[drone](DEBUG)> accel: 0
[drone](DEBUG)> dir: (x=0.00000,y=0.00000,z=1.00000)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.00000,y=0.00000,z=1.00000)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.00000,y=0.00000,z=0.99999)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.00000,y=0.00000,z=0.99999)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.00000,y=0.00000,z=1.00000)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.00000,y=0.00000,z=1.00000)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.00000,y=0.00000,z=1.00000)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.00000,y=0.00000,z=0.99999)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.00000,y=0.00000,z=1.00000)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.00000,y=0.00000,z=1.00000)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.00000,y=0.00000,z=1.00000)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.00000,y=0.00000,z=1.00000)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.00000,y=0.00000,z=1.00000)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.00000,y=0.00000,z=0.99999)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.00000,y=0.00000,z=1.00000)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.00000,y=0.00000,z=0.99999)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.00000,y=0.00000,z=1.00000)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.00000,y=0.00000,z=1.00000)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.00000,y=0.00000,z=0.99999)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.00000,y=0.00000,z=1.00000)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.00000,y=0.00000,z=1.00000)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.00000,y=0.00000,z=1.00000)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.00000,y=0.00000,z=1.00000)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.00000,y=0.00000,z=1.00000)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.00000,y=0.00000,z=0.99999)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.00000,y=0.00000,z=1.00000)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.00000,y=0.00000,z=1.00000)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.00000,y=0.00000,z=1.00000)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.00000,y=0.00000,z=1.00000)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.00000,y=0.00000,z=0.99999)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.00000,y=0.00000,z=1.00000)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.00000,y=0.00000,z=1.00000)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.00000,y=0.00000,z=1.00000)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.00000,y=0.00000,z=0.99999)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.00000,y=0.00000,z=1.00000)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.00000,y=0.00000,z=1.00000)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.00000,y=0.00000,z=0.99999)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.00000,y=0.00000,z=1.00000)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.00000,y=0.00000,z=1.00000)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.00000,y=0.00000,z=1.00000)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.00000,y=0.00000,z=1.00000)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.00000,y=0.00000,z=1.00000)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.00000,y=0.00000,z=1.00000)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.00000,y=0.00000,z=1.00000)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.00000,y=0.00000,z=1.00000)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.00000,y=0.00000,z=1.00000)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.00000,y=0.00000,z=1.00000)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.00000,y=0.00000,z=1.00000)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.00000,y=0.00000,z=1.00000)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.00000,y=0.00000,z=0.99999)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.00000,y=0.00000,z=0.99999)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.00000,y=0.00000,z=1.00000)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.00000,y=0.00000,z=1.00000)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.00000,y=0.00000,z=1.00000)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.00000,y=0.00000,z=1.00000)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.00000,y=0.00000,z=1.00000)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.00000,y=0.00000,z=1.00000)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.00000,y=0.00000,z=1.00000)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.00000,y=0.00000,z=1.00000)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.00000,y=0.00000,z=1.00000)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.00000,y=0.00000,z=1.00000)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.00000,y=0.00000,z=1.00000)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.00000,y=0.00000,z=1.00000)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.00000,y=0.00000,z=1.00000)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.00000,y=0.00000,z=1.00000)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.00000,y=0.00000,z=1.00000)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.00000,y=0.00000,z=1.00000)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.00000,y=0.00000,z=0.99996)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.00000,y=0.00000,z=1.00000)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.00000,y=0.00000,z=0.99999)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.00000,y=0.00000,z=1.00000)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.00000,y=0.00000,z=1.00000)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.00000,y=0.00000,z=1.00000)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.00000,y=0.00000,z=0.99996)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.00000,y=0.00000,z=1.00000)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.00000,y=0.00000,z=1.00000)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.00000,y=0.00000,z=1.00000)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.00000,y=0.00000,z=0.99998)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.00000,y=0.00000,z=1.00000)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.00000,y=0.00000,z=1.00000)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.00000,y=0.00000,z=1.00000)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.00000,y=0.00000,z=1.00000)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.00000,y=0.00000,z=1.00000)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.00000,y=0.00000,z=1.00000)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.00000,y=0.00000,z=0.99998)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.00000,y=0.00000,z=0.99998)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.00000,y=0.00000,z=1.00000)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.00000,y=0.00000,z=1.00000)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.00000,y=0.00000,z=0.99997)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.00000,y=0.00000,z=0.99997)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.00000,y=0.00000,z=1.00000)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.00000,y=0.00000,z=0.99998)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.00000,y=0.00000,z=1.00000)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.00000,y=0.00000,z=1.00000)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.00000,y=0.00000,z=0.99998)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.00000,y=0.00000,z=1.00000)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.00000,y=0.00000,z=1.00000)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.00000,y=0.00000,z=1.00000)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.00000,y=0.00000,z=1.00000)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.00000,y=0.00000,z=1.00000)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.00000,y=0.00000,z=1.00000)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.00000,y=0.00000,z=1.00000)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.00000,y=0.00000,z=0.99999)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.00000,y=0.00000,z=0.99999)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.00000,y=0.00000,z=1.00000)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.00000,y=0.00000,z=0.99999)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.00000,y=0.00000,z=0.99998)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.00000,y=0.00000,z=1.00000)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.00000,y=0.00000,z=0.99998)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.00000,y=0.00000,z=0.99998)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.00000,y=0.00000,z=1.00000)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.00000,y=0.00000,z=0.99999)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.00000,y=0.00000,z=0.99998)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.00000,y=0.00000,z=1.00000)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.00000,y=0.00000,z=0.99998)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.00000,y=0.00000,z=0.99999)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.00000,y=0.00000,z=1.00000)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.00000,y=0.00000,z=0.99998)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.00000,y=0.00000,z=1.00000)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.00000,y=0.00000,z=1.00000)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.00000,y=0.00000,z=1.00000)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.00000,y=0.00000,z=1.00000)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.00000,y=0.00000,z=1.00000)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.00000,y=0.00000,z=0.99999)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.00000,y=0.00000,z=1.00000)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.00000,y=0.00000,z=0.99999)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.00000,y=0.00000,z=1.00000)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.00000,y=0.00000,z=1.00000)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.00000,y=0.00000,z=1.00000)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.00000,y=0.00000,z=0.99998)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.00000,y=0.00000,z=0.99997)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.00000,y=0.00000,z=1.00000)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.00000,y=0.00000,z=1.00000)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.00000,y=0.00000,z=0.99997)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.00000,y=0.00000,z=0.99996)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.00000,y=0.00000,z=1.00000)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.00000,y=0.00000,z=1.00000)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.00000,y=0.00000,z=0.99998)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.00000,y=0.00000,z=0.99997)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.00000,y=0.00000,z=1.00000)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.00000,y=0.00000,z=1.00000)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.00000,y=0.00000,z=0.99999)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.00000,y=0.00000,z=1.00000)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.00000,y=0.00000,z=0.99999)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.00000,y=0.00000,z=0.99999)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.00000,y=0.00000,z=1.00000)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.00000,y=0.00000,z=1.00000)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.00000,y=0.00000,z=1.00000)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.00000,y=0.00000,z=0.99999)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.00000,y=0.00000,z=1.00000)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.00000,y=0.00000,z=0.99999)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.00000,y=0.00000,z=1.00000)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.00000,y=0.00000,z=1.00000)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.00000,y=0.00000,z=0.99999)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.00000,y=0.00000,z=1.00000)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.00000,y=0.00000,z=1.00000)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.00000,y=0.00000,z=1.00000)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.00000,y=0.00000,z=1.00000)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.00000,y=0.00000,z=1.00000)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.00000,y=0.00000,z=1.00000)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.00000,y=0.00000,z=1.00000)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.00000,y=0.00000,z=1.00000)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.00000,y=0.00000,z=1.00000)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.00000,y=0.00000,z=0.99999)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.00000,y=0.00000,z=1.00000)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.00000,y=0.00000,z=1.00000)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.00000,y=0.00000,z=1.00000)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.00000,y=0.00000,z=1.00000)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.00000,y=0.00000,z=0.99999)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.00000,y=0.00000,z=1.00000)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.00000,y=0.00000,z=1.00000)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.00000,y=0.00000,z=1.00000)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.00000,y=0.00000,z=1.00000)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.00000,y=0.00000,z=0.99999)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.00000,y=0.00000,z=1.00000)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.00000,y=0.00000,z=1.00000)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.00000,y=0.00000,z=1.00000)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.00000,y=0.00000,z=1.00000)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.00000,y=0.00000,z=0.99999)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.00000,y=0.00000,z=1.00000)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.00000,y=0.00000,z=1.00000)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.00000,y=0.00000,z=1.00000)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.00000,y=0.00000,z=1.00000)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.00000,y=0.00000,z=1.00000)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.00000,y=0.00000,z=1.00000)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.00000,y=0.00000,z=1.00000)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.00000,y=0.00000,z=1.00000)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.00000,y=0.00000,z=1.00000)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.00000,y=0.00000,z=1.00000)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.00000,y=0.00000,z=1.00000)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.00000,y=0.00000,z=1.00000)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.00000,y=0.00000,z=1.00000)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.00000,y=0.00000,z=1.00000)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.00000,y=0.00000,z=0.99999)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.00000,y=0.00000,z=0.99999)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.00000,y=0.00000,z=1.00000)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.00000,y=0.00000,z=1.00000)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.00000,y=0.00000,z=1.00000)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.00000,y=0.00000,z=1.00000)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.00000,y=0.00000,z=1.00000)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.00000,y=0.00000,z=1.00000)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.00000,y=0.00000,z=1.00000)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.00000,y=0.00000,z=1.00000)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.00000,y=0.00000,z=1.00000)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.00000,y=0.00000,z=1.00000)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.00000,y=0.00000,z=1.00000)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.00000,y=0.00000,z=1.00000)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.00000,y=0.00000,z=1.00000)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.00000,y=0.00000,z=1.00000)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.00000,y=0.00000,z=1.00000)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.00000,y=0.00000,z=1.00000)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.00000,y=0.00000,z=1.00000)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.00000,y=0.00000,z=1.00000)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.00000,y=0.00000,z=1.00000)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.00000,y=0.00000,z=1.00000)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.00000,y=0.00000,z=1.00000)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.00000,y=0.00000,z=1.00000)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.00000,y=0.00000,z=1.00000)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.00000,y=0.00000,z=1.00000)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.00000,y=0.00000,z=1.00000)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.00000,y=0.00000,z=1.00000)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.00000,y=0.00000,z=1.00000)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.00000,y=0.00000,z=1.00000)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.00000,y=0.00000,z=1.00000)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.00000,y=0.00000,z=1.00000)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.00000,y=0.00000,z=1.00000)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.00000,y=0.00000,z=1.00000)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.00000,y=0.00000,z=1.00000)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.00000,y=0.00000,z=1.00000)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.00000,y=0.00000,z=0.99996)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.00000,y=0.00000,z=0.99996)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.00000,y=0.00000,z=0.99997)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.00000,y=0.00000,z=0.99997)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.00000,y=0.00000,z=1.00000)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.00000,y=0.00000,z=1.00000)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.00000,y=0.00000,z=0.99999)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.00000,y=0.00000,z=0.99999)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.00000,y=0.00000,z=1.00000)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.00000,y=0.00000,z=1.00000)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.00000,y=0.00000,z=1.00000)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.00000,y=0.00000,z=1.00000)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.00000,y=0.00000,z=0.99998)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.00000,y=0.00000,z=0.99998)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.00000,y=0.00000,z=1.00000)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.00000,y=0.00000,z=1.00000)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.00000,y=0.00000,z=0.99998)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.00000,y=0.00000,z=0.99998)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.00000,y=0.00000,z=0.99998)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.00000,y=0.00000,z=0.99998)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.00000,y=0.00000,z=0.99999)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.00000,y=0.00000,z=0.99999)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.00000,y=0.00000,z=1.00000)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.00000,y=0.00000,z=1.00000)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.00000,y=0.00000,z=1.00000)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.00000,y=0.00000,z=1.00000)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.00000,y=0.00000,z=1.00000)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.00000,y=0.00000,z=1.00000)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.00000,y=0.00000,z=1.00000)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.00000,y=0.00000,z=1.00000)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.00000,y=0.00000,z=1.00000)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.00000,y=0.00000,z=1.00000)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.00000,y=0.00000,z=0.99998)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.00000,y=0.00000,z=0.99998)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.00000,y=0.00000,z=1.00000)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.00000,y=0.00000,z=1.00000)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.00000,y=0.00000,z=1.00000)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.00000,y=0.00000,z=1.00000)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.00000,y=0.00000,z=1.00000)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.00000,y=0.00000,z=1.00000)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.00000,y=0.00000,z=1.00000)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.00000,y=0.00000,z=1.00000)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.00000,y=0.00000,z=0.99999)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.00000,y=0.00000,z=0.99999)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.00000,y=0.00000,z=1.00000)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.00000,y=0.00000,z=1.00000)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.00000,y=0.00000,z=1.00000)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.00000,y=0.00000,z=1.00000)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.00000,y=0.00000,z=1.00000)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.00000,y=0.00000,z=1.00000)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.00000,y=0.00000,z=0.99998)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.00000,y=0.00000,z=0.99998)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.00000,y=0.00000,z=1.00000)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.00000,y=0.00000,z=1.00000)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.00000,y=0.00000,z=0.99999)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.00000,y=0.00000,z=0.99999)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.00000,y=0.00000,z=1.00000)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.00000,y=0.00000,z=1.00000)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.00000,y=0.00000,z=1.00000)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.00000,y=0.00000,z=1.00000)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.00000,y=0.00000,z=0.99999)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.00000,y=0.00000,z=0.99999)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.00000,y=0.00000,z=1.00000)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.00000,y=0.00000,z=1.00000)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.00000,y=0.00000,z=1.00000)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.00000,y=0.00000,z=1.00000)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.00000,y=0.00000,z=1.00000)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.00000,y=0.00000,z=1.00000)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.00000,y=0.00000,z=1.00000)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.00000,y=0.00000,z=1.00000)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.94869,y=0.00000,z=0.31623)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.94869,y=0.00000,z=0.31623)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.94877,y=0.00000,z=0.31594)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.94877,y=0.00000,z=0.31594)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.94889,y=0.00000,z=0.31560)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.94889,y=0.00000,z=0.31560)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.94902,y=0.00000,z=0.31518)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.94902,y=0.00000,z=0.31518)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.94919,y=0.00000,z=0.31467)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.94919,y=0.00000,z=0.31467)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.94943,y=0.00000,z=0.31405)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.94943,y=0.00000,z=0.31405)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.94964,y=0.00000,z=0.31323)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.94964,y=0.00000,z=0.31323)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.95005,y=0.00000,z=0.31217)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.95005,y=0.00000,z=0.31217)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.95056,y=0.00000,z=0.31064)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.95056,y=0.00000,z=0.31064)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.07179,y=0.99709,z=0.02327)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.07179,y=0.99709,z=0.02327)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.07179,y=0.99712,z=0.02291)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.07179,y=0.99712,z=0.02291)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.07180,y=0.99714,z=0.02254)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.07180,y=0.99714,z=0.02254)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.07180,y=0.99716,z=0.02216)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.07180,y=0.99716,z=0.02216)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.07180,y=0.99719,z=0.02175)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.07180,y=0.99719,z=0.02175)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.07180,y=0.99722,z=0.02133)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.07180,y=0.99722,z=0.02133)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.07181,y=0.99725,z=0.02089)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.07181,y=0.99725,z=0.02089)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.07180,y=0.99718,z=0.02042)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.07180,y=0.99718,z=0.02042)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.07180,y=0.99721,z=0.01993)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.07180,y=0.99721,z=0.01993)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.07180,y=0.99720,z=0.02044)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.07180,y=0.99720,z=0.02044)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.07180,y=0.99720,z=0.01993)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.07180,y=0.99720,z=0.01993)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.07181,y=0.99725,z=0.02047)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.07181,y=0.99725,z=0.02047)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.07180,y=0.99724,z=0.01993)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.07180,y=0.99724,z=0.01993)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.07179,y=0.99723,z=0.02049)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.07179,y=0.99723,z=0.02049)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.07180,y=0.99719,z=0.01992)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.07180,y=0.99719,z=0.01992)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.07180,y=0.99722,z=0.02052)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.07180,y=0.99722,z=0.02052)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.07180,y=0.99725,z=0.01992)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.07180,y=0.99725,z=0.01992)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.07179,y=0.99718,z=0.02056)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.07179,y=0.99718,z=0.02056)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.07180,y=0.99724,z=0.01991)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.07180,y=0.99724,z=0.01991)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.07180,y=0.99719,z=0.02059)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.07180,y=0.99719,z=0.02059)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.07180,y=0.99719,z=0.01990)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.07180,y=0.99719,z=0.01990)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.07180,y=0.99720,z=0.02064)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.07180,y=0.99720,z=0.02064)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.07180,y=0.99720,z=0.01990)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.07180,y=0.99720,z=0.01990)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.07180,y=0.99720,z=0.02069)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.07180,y=0.99720,z=0.02069)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.07180,y=0.99724,z=0.01989)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.07180,y=0.99724,z=0.01989)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.07179,y=0.99722,z=0.02075)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.07179,y=0.99722,z=0.02075)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.07180,y=0.99721,z=0.01988)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.07180,y=0.99721,z=0.01988)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.07180,y=0.99721,z=0.02082)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.07180,y=0.99721,z=0.02082)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.07180,y=0.99721,z=0.01987)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.07180,y=0.99721,z=0.01987)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.07180,y=0.99720,z=0.02090)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.07180,y=0.99720,z=0.02090)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.07180,y=0.99722,z=0.01985)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.07180,y=0.99722,z=0.01985)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.07181,y=0.99721,z=0.02101)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.07181,y=0.99721,z=0.02101)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.07179,y=0.99722,z=0.01983)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.07179,y=0.99722,z=0.01983)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.07180,y=0.99718,z=0.02114)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.07180,y=0.99718,z=0.02114)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.07179,y=0.99723,z=0.01981)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.07179,y=0.99723,z=0.01981)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.07181,y=0.99718,z=0.02132)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.07181,y=0.99718,z=0.02132)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.07179,y=0.99723,z=0.01978)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.07179,y=0.99723,z=0.01978)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.07181,y=0.99719,z=0.02155)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.07181,y=0.99719,z=0.02155)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.07179,y=0.99724,z=0.01973)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.07179,y=0.99724,z=0.01973)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.07181,y=0.99716,z=0.02189)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.07181,y=0.99716,z=0.02189)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.07179,y=0.99724,z=0.01967)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.07179,y=0.99724,z=0.01967)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.07180,y=0.99720,z=0.02242)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.07180,y=0.99720,z=0.02242)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.07176,y=0.99727,z=0.01955)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.07176,y=0.99727,z=0.01955)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.07177,y=0.99712,z=0.02335)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.07177,y=0.99712,z=0.02335)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.07180,y=0.99729,z=0.01933)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.07180,y=0.99729,z=0.01933)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.96638,y=0.25706,z=0.00657)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.96638,y=0.25706,z=0.00657)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.96634,y=0.25714,z=0.00715)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.96634,y=0.25714,z=0.00715)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.96630,y=0.25724,z=0.00785)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.96630,y=0.25724,z=0.00785)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.96624,y=0.25737,z=0.00871)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.96624,y=0.25737,z=0.00871)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.96624,y=0.25754,z=0.00977)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.96624,y=0.25754,z=0.00977)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.96616,y=0.25774,z=0.01113)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.96616,y=0.25774,z=0.01113)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.96606,y=0.25799,z=0.01293)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.96606,y=0.25799,z=0.01293)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.96592,y=0.25833,z=0.01542)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.96592,y=0.25833,z=0.01542)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.96598,y=0.25795,z=0.01911)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.96598,y=0.25795,z=0.01911)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99922,y=0.03935,z=0.00382)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99922,y=0.03935,z=0.00382)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99926,y=0.03932,z=0.00401)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99926,y=0.03932,z=0.00401)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99924,y=0.03929,z=0.00422)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99924,y=0.03929,z=0.00422)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99926,y=0.03925,z=0.00446)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99926,y=0.03925,z=0.00446)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99924,y=0.03920,z=0.00472)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99924,y=0.03920,z=0.00472)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99921,y=0.03915,z=0.00502)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99921,y=0.03915,z=0.00502)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99925,y=0.03910,z=0.00536)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99925,y=0.03910,z=0.00536)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99924,y=0.03903,z=0.00574)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99924,y=0.03903,z=0.00574)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99924,y=0.03895,z=0.00618)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99924,y=0.03895,z=0.00618)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99922,y=0.03887,z=0.00670)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99922,y=0.03887,z=0.00670)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99924,y=0.03876,z=0.00731)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99924,y=0.03876,z=0.00731)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99925,y=0.03864,z=0.00805)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99925,y=0.03864,z=0.00805)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99924,y=0.03849,z=0.00895)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99924,y=0.03849,z=0.00895)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99919,y=0.03830,z=0.01008)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99919,y=0.03830,z=0.01008)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99919,y=0.03805,z=0.01153)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99919,y=0.03805,z=0.01153)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99919,y=0.03772,z=0.01347)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99919,y=0.03772,z=0.01347)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99910,y=0.03807,z=0.01620)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99910,y=0.03807,z=0.01620)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.99975,y=0.01835,z=0.00992)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.99975,y=0.01835,z=0.00992)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.99978,y=0.01811,z=0.01132)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.99978,y=0.01811,z=0.01132)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.99973,y=0.01780,z=0.01319)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.99973,y=0.01780,z=0.01319)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.99976,y=0.01816,z=0.01579)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.99976,y=0.01816,z=0.01579)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.99960,y=0.01770,z=0.01967)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.99960,y=0.01770,z=0.01967)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.06384,y=-0.99800,z=0.00167)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.06384,y=-0.99800,z=0.00167)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.06384,y=-0.99796,z=0.00170)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.06384,y=-0.99796,z=0.00170)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.06383,y=-0.99800,z=0.00174)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.06383,y=-0.99800,z=0.00174)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.06382,y=-0.99796,z=0.00178)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.06382,y=-0.99796,z=0.00178)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.06382,y=-0.99800,z=0.00182)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.06382,y=-0.99800,z=0.00182)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.06381,y=-0.99796,z=0.00186)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.06381,y=-0.99796,z=0.00186)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.06380,y=-0.99800,z=0.00190)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.06380,y=-0.99800,z=0.00190)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.06379,y=-0.99795,z=0.00195)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.06379,y=-0.99795,z=0.00195)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.06380,y=-0.99795,z=0.00200)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.06380,y=-0.99795,z=0.00200)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.06380,y=-0.99798,z=0.00205)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.06380,y=-0.99798,z=0.00205)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.06380,y=-0.99796,z=0.00210)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.06380,y=-0.99796,z=0.00210)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.06380,y=-0.99798,z=0.00216)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.06380,y=-0.99798,z=0.00216)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.06380,y=-0.99794,z=0.00222)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.06380,y=-0.99794,z=0.00222)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.06380,y=-0.99798,z=0.00228)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.06380,y=-0.99798,z=0.00228)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.06380,y=-0.99797,z=0.00235)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.06380,y=-0.99797,z=0.00235)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.06380,y=-0.99793,z=0.00242)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.06380,y=-0.99793,z=0.00242)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.06380,y=-0.99796,z=0.00250)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.06380,y=-0.99796,z=0.00250)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.06379,y=-0.99797,z=0.00258)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.06379,y=-0.99797,z=0.00258)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.06380,y=-0.99792,z=0.00266)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.06380,y=-0.99792,z=0.00266)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.06381,y=-0.99798,z=0.00275)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.06381,y=-0.99798,z=0.00275)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.06380,y=-0.99799,z=0.00285)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.06380,y=-0.99799,z=0.00285)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.06379,y=-0.99797,z=0.00296)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.06379,y=-0.99797,z=0.00296)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.06380,y=-0.99793,z=0.00307)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.06380,y=-0.99793,z=0.00307)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.06381,y=-0.99800,z=0.00319)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.06381,y=-0.99800,z=0.00319)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.06380,y=-0.99794,z=0.00333)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.06380,y=-0.99794,z=0.00333)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.06381,y=-0.99797,z=0.00347)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.06381,y=-0.99797,z=0.00347)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.06380,y=-0.99797,z=0.00363)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.06380,y=-0.99797,z=0.00363)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.06381,y=-0.99793,z=0.00380)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.06381,y=-0.99793,z=0.00380)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.06380,y=-0.99795,z=0.00399)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.06380,y=-0.99795,z=0.00399)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.06381,y=-0.99794,z=0.00420)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.06381,y=-0.99794,z=0.00420)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.06380,y=-0.99793,z=0.00443)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.06380,y=-0.99793,z=0.00443)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.06381,y=-0.99795,z=0.00469)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.06381,y=-0.99795,z=0.00469)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.06380,y=-0.99796,z=0.00498)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.06380,y=-0.99796,z=0.00498)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.06378,y=-0.99797,z=0.00532)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.06378,y=-0.99797,z=0.00532)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.06380,y=-0.99795,z=0.00569)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.06380,y=-0.99795,z=0.00569)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.06381,y=-0.99793,z=0.00613)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.06381,y=-0.99793,z=0.00613)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.06380,y=-0.99795,z=0.00664)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.06380,y=-0.99795,z=0.00664)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.06381,y=-0.99792,z=0.00724)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.06381,y=-0.99792,z=0.00724)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.06380,y=-0.99793,z=0.00796)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.06380,y=-0.99793,z=0.00796)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.06382,y=-0.99792,z=0.00884)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.06382,y=-0.99792,z=0.00884)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.06380,y=-0.99792,z=0.00994)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.06380,y=-0.99792,z=0.00994)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.06382,y=-0.99790,z=0.01135)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.06382,y=-0.99790,z=0.01135)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.06379,y=-0.99789,z=0.01322)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.06379,y=-0.99789,z=0.01322)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.06383,y=-0.99786,z=0.01584)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.06383,y=-0.99786,z=0.01584)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.06378,y=-0.99773,z=0.01975)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.06378,y=-0.99773,z=0.01975)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.96829,y=-0.24970,z=0.00656)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.96829,y=-0.24970,z=0.00656)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.96830,y=-0.24970,z=0.00715)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.96830,y=-0.24970,z=0.00715)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.96829,y=-0.24970,z=0.00785)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.96829,y=-0.24970,z=0.00785)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.96828,y=-0.24971,z=0.00870)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.96828,y=-0.24971,z=0.00870)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.96827,y=-0.24971,z=0.00977)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.96827,y=-0.24971,z=0.00977)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.96823,y=-0.24970,z=0.01112)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.96823,y=-0.24970,z=0.01112)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.96822,y=-0.24971,z=0.01292)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.96822,y=-0.24971,z=0.01292)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.96825,y=-0.24972,z=0.01541)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.96825,y=-0.24972,z=0.01541)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.96813,y=-0.24970,z=0.01909)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.96813,y=-0.24970,z=0.01909)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99741,y=-0.07168,z=0.00720)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99741,y=-0.07168,z=0.00720)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99740,y=-0.07167,z=0.00791)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99740,y=-0.07167,z=0.00791)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99736,y=-0.07167,z=0.00877)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99736,y=-0.07167,z=0.00877)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99739,y=-0.07167,z=0.00985)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99739,y=-0.07167,z=0.00985)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99736,y=-0.07167,z=0.01124)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99736,y=-0.07167,z=0.01124)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99731,y=-0.07166,z=0.01307)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99731,y=-0.07166,z=0.01307)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99734,y=-0.07166,z=0.01562)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99734,y=-0.07166,z=0.01562)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99728,y=-0.07165,z=0.01942)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99728,y=-0.07165,z=0.01942)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.06500,y=0.99783,z=0.00167)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.06500,y=0.99783,z=0.00167)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.06500,y=0.99786,z=0.00171)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.06500,y=0.99786,z=0.00171)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.06500,y=0.99782,z=0.00174)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.06500,y=0.99782,z=0.00174)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.06500,y=0.99787,z=0.00178)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.06500,y=0.99787,z=0.00178)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.06500,y=0.99790,z=0.00182)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.06500,y=0.99790,z=0.00182)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.06500,y=0.99786,z=0.00187)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.06500,y=0.99786,z=0.00187)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.06501,y=0.99790,z=0.00191)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.06501,y=0.99790,z=0.00191)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.06500,y=0.99784,z=0.00196)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.06500,y=0.99784,z=0.00196)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.06500,y=0.99790,z=0.00201)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.06500,y=0.99790,z=0.00201)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.06501,y=0.99790,z=0.00206)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.06501,y=0.99790,z=0.00206)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.06500,y=0.99793,z=0.00211)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.06500,y=0.99793,z=0.00211)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.06499,y=0.99789,z=0.00217)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.06499,y=0.99789,z=0.00217)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.06500,y=0.99786,z=0.00223)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.06500,y=0.99786,z=0.00223)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.06501,y=0.99788,z=0.00229)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.06501,y=0.99788,z=0.00229)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.06500,y=0.99792,z=0.00236)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.06500,y=0.99792,z=0.00236)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.06500,y=0.99790,z=0.00243)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.06500,y=0.99790,z=0.00243)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.06500,y=0.99792,z=0.00251)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.06500,y=0.99792,z=0.00251)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.06499,y=0.99788,z=0.00259)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.06499,y=0.99788,z=0.00259)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.06500,y=0.99791,z=0.00268)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.06500,y=0.99791,z=0.00268)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.06500,y=0.99793,z=0.00277)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.06500,y=0.99793,z=0.00277)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.06500,y=0.99786,z=0.00287)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.06500,y=0.99786,z=0.00287)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.06501,y=0.99786,z=0.00298)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.06501,y=0.99786,z=0.00298)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.06500,y=0.99791,z=0.00309)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.06500,y=0.99791,z=0.00309)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.06499,y=0.99788,z=0.00322)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.06499,y=0.99788,z=0.00322)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.06501,y=0.99790,z=0.00335)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.06501,y=0.99790,z=0.00335)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.06499,y=0.99787,z=0.00350)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.06499,y=0.99787,z=0.00350)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.06501,y=0.99790,z=0.00366)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.06501,y=0.99790,z=0.00366)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.06500,y=0.99790,z=0.00383)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.06500,y=0.99790,z=0.00383)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.06501,y=0.99789,z=0.00403)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.06501,y=0.99789,z=0.00403)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.06500,y=0.99787,z=0.00424)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.06500,y=0.99787,z=0.00424)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.06501,y=0.99788,z=0.00448)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.06501,y=0.99788,z=0.00448)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.06500,y=0.99791,z=0.00474)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.06500,y=0.99791,z=0.00474)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.06501,y=0.99789,z=0.00504)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.06501,y=0.99789,z=0.00504)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.06500,y=0.99792,z=0.00538)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.06500,y=0.99792,z=0.00538)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.06498,y=0.99786,z=0.00577)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.06498,y=0.99786,z=0.00577)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.06500,y=0.99788,z=0.00621)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.06500,y=0.99788,z=0.00621)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.06502,y=0.99788,z=0.00674)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.06502,y=0.99788,z=0.00674)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.06500,y=0.99787,z=0.00736)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.06500,y=0.99787,z=0.00736)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.06498,y=0.99784,z=0.00810)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.06498,y=0.99784,z=0.00810)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.06500,y=0.99785,z=0.00902)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.06500,y=0.99785,z=0.00902)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.06503,y=0.99781,z=0.01016)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.06503,y=0.99781,z=0.01016)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.06499,y=0.99786,z=0.01164)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.06499,y=0.99786,z=0.01164)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.06500,y=0.99776,z=0.01361)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.06500,y=0.99776,z=0.01361)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.06501,y=0.99771,z=0.01640)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.06501,y=0.99771,z=0.01640)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.53916,y=-0.84214,z=0.00153)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.53916,y=-0.84214,z=0.00153)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.53920,y=-0.84217,z=0.00156)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.53920,y=-0.84217,z=0.00156)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.53925,y=-0.84220,z=0.00159)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.53925,y=-0.84220,z=0.00159)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.53925,y=-0.84216,z=0.00162)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.53925,y=-0.84216,z=0.00162)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.53924,y=-0.84212,z=0.00165)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.53924,y=-0.84212,z=0.00165)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.53924,y=-0.84212,z=0.00169)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.53924,y=-0.84212,z=0.00169)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.53925,y=-0.84213,z=0.00172)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.53925,y=-0.84213,z=0.00172)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.53925,y=-0.84213,z=0.00176)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.53925,y=-0.84213,z=0.00176)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.53925,y=-0.84213,z=0.00180)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.53925,y=-0.84213,z=0.00180)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.53925,y=-0.84214,z=0.00184)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.53925,y=-0.84214,z=0.00184)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.53925,y=-0.84214,z=0.00189)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.53925,y=-0.84214,z=0.00189)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.53925,y=-0.84214,z=0.00193)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.53925,y=-0.84214,z=0.00193)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.53926,y=-0.84215,z=0.00198)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.53926,y=-0.84215,z=0.00198)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.53924,y=-0.84212,z=0.00203)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.53924,y=-0.84212,z=0.00203)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.53927,y=-0.84217,z=0.00208)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.53927,y=-0.84217,z=0.00208)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.53924,y=-0.84212,z=0.00214)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.53924,y=-0.84212,z=0.00214)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.53922,y=-0.84213,z=0.00220)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.53922,y=-0.84213,z=0.00220)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.53922,y=-0.84217,z=0.00226)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.53922,y=-0.84217,z=0.00226)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.53921,y=-0.84220,z=0.00233)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.53921,y=-0.84220,z=0.00233)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.53917,y=-0.84217,z=0.00240)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.53917,y=-0.84217,z=0.00240)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.53916,y=-0.84219,z=0.00247)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.53916,y=-0.84219,z=0.00247)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.53916,y=-0.84224,z=0.00255)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.53916,y=-0.84224,z=0.00255)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.53912,y=-0.84221,z=0.00263)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.53912,y=-0.84221,z=0.00263)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.53909,y=-0.84221,z=0.00272)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.53909,y=-0.84221,z=0.00272)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.53908,y=-0.84224,z=0.00282)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.53908,y=-0.84224,z=0.00282)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.53907,y=-0.84227,z=0.00292)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.53907,y=-0.84227,z=0.00292)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.53905,y=-0.84229,z=0.00303)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.53905,y=-0.84229,z=0.00303)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.53901,y=-0.84228,z=0.00315)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.53901,y=-0.84228,z=0.00315)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.53900,y=-0.84233,z=0.00328)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.53900,y=-0.84233,z=0.00328)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.53895,y=-0.84230,z=0.00342)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.53895,y=-0.84230,z=0.00342)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.53893,y=-0.84234,z=0.00357)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.53893,y=-0.84234,z=0.00357)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.53889,y=-0.84236,z=0.00374)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.53889,y=-0.84236,z=0.00374)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.53888,y=-0.84242,z=0.00392)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.53888,y=-0.84242,z=0.00392)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.53883,y=-0.84244,z=0.00413)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.53883,y=-0.84244,z=0.00413)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.53875,y=-0.84242,z=0.00435)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.53875,y=-0.84242,z=0.00435)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.53871,y=-0.84247,z=0.00460)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.53871,y=-0.84247,z=0.00460)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.53868,y=-0.84255,z=0.00488)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.53868,y=-0.84255,z=0.00488)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.53860,y=-0.84257,z=0.00520)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.53860,y=-0.84257,z=0.00520)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.53852,y=-0.84260,z=0.00556)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.53852,y=-0.84260,z=0.00556)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.53844,y=-0.84268,z=0.00598)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.53844,y=-0.84268,z=0.00598)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.53833,y=-0.84269,z=0.00646)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.53833,y=-0.84269,z=0.00646)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.53824,y=-0.84276,z=0.00703)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.53824,y=-0.84276,z=0.00703)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.53813,y=-0.84285,z=0.00771)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.53813,y=-0.84285,z=0.00771)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.53797,y=-0.84292,z=0.00853)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.53797,y=-0.84292,z=0.00853)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.53813,y=-0.84282,z=0.00955)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.53813,y=-0.84282,z=0.00955)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.53793,y=-0.84290,z=0.01085)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.53793,y=-0.84290,z=0.01085)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.53814,y=-0.84277,z=0.01254)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.53814,y=-0.84277,z=0.01254)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.53787,y=-0.84288,z=0.01488)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.53787,y=-0.84288,z=0.01488)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.53815,y=-0.84265,z=0.01827)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.53815,y=-0.84265,z=0.01827)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.04019,y=0.99920,z=0.00177)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.04019,y=0.99920,z=0.00177)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.04019,y=0.99918,z=0.00181)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.04019,y=0.99918,z=0.00181)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.04019,y=0.99917,z=0.00185)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.04019,y=0.99917,z=0.00185)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.04020,y=0.99915,z=0.00190)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.04020,y=0.99915,z=0.00190)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.04021,y=0.99923,z=0.00194)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.04021,y=0.99923,z=0.00194)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.04021,y=0.99920,z=0.00199)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.04021,y=0.99920,z=0.00199)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.04022,y=0.99922,z=0.00204)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.04022,y=0.99922,z=0.00204)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.04022,y=0.99920,z=0.00209)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.04022,y=0.99920,z=0.00209)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.04023,y=0.99923,z=0.00215)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.04023,y=0.99923,z=0.00215)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.04023,y=0.99921,z=0.00221)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.04023,y=0.99921,z=0.00221)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.04024,y=0.99920,z=0.00227)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.04024,y=0.99920,z=0.00227)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.04025,y=0.99916,z=0.00234)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.04025,y=0.99916,z=0.00234)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.04025,y=0.99921,z=0.00241)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.04025,y=0.99921,z=0.00241)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.04026,y=0.99917,z=0.00249)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.04026,y=0.99917,z=0.00249)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.04027,y=0.99914,z=0.00256)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.04027,y=0.99914,z=0.00256)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.04028,y=0.99916,z=0.00265)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.04028,y=0.99916,z=0.00265)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.04029,y=0.99917,z=0.00274)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.04029,y=0.99917,z=0.00274)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.04030,y=0.99916,z=0.00284)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.04030,y=0.99916,z=0.00284)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.04031,y=0.99917,z=0.00294)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.04031,y=0.99917,z=0.00294)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.04032,y=0.99919,z=0.00305)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.04032,y=0.99919,z=0.00305)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.04033,y=0.99917,z=0.00318)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.04033,y=0.99917,z=0.00318)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.04034,y=0.99914,z=0.00331)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.04034,y=0.99914,z=0.00331)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.04036,y=0.99920,z=0.00345)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.04036,y=0.99920,z=0.00345)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.04038,y=0.99918,z=0.00361)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.04038,y=0.99918,z=0.00361)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.04040,y=0.99920,z=0.00378)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.04040,y=0.99920,z=0.00378)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.04041,y=0.99915,z=0.00396)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.04041,y=0.99915,z=0.00396)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.04044,y=0.99918,z=0.00417)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.04044,y=0.99918,z=0.00417)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.04046,y=0.99918,z=0.00440)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.04046,y=0.99918,z=0.00440)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.04049,y=0.99921,z=0.00465)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.04049,y=0.99921,z=0.00465)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.04052,y=0.99916,z=0.00494)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.04052,y=0.99916,z=0.00494)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.04055,y=0.99918,z=0.00527)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.04055,y=0.99918,z=0.00527)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.04059,y=0.99919,z=0.00564)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.04059,y=0.99919,z=0.00564)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.04064,y=0.99915,z=0.00607)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.04064,y=0.99915,z=0.00607)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.04069,y=0.99916,z=0.00656)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.04069,y=0.99916,z=0.00656)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.04075,y=0.99914,z=0.00715)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.04075,y=0.99914,z=0.00715)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.04082,y=0.99915,z=0.00785)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.04082,y=0.99915,z=0.00785)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.04091,y=0.99914,z=0.00870)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.04091,y=0.99914,z=0.00870)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.04102,y=0.99913,z=0.00977)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.04102,y=0.99913,z=0.00977)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.04117,y=0.99911,z=0.01113)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.04117,y=0.99911,z=0.01113)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.04136,y=0.99910,z=0.01293)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.04136,y=0.99910,z=0.01293)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.04163,y=0.99900,z=0.01542)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.04163,y=0.99900,z=0.01542)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.04202,y=0.99895,z=0.01910)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.04202,y=0.99895,z=0.01910)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.00295,y=-1.00000,z=0.00179)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.00295,y=-1.00000,z=0.00179)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.00292,y=-1.00000,z=0.00183)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.00292,y=-1.00000,z=0.00183)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.00290,y=-1.00000,z=0.00187)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.00290,y=-1.00000,z=0.00187)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.00287,y=-1.00000,z=0.00191)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.00287,y=-1.00000,z=0.00191)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.00284,y=-1.00000,z=0.00196)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.00284,y=-1.00000,z=0.00196)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.00281,y=-0.99998,z=0.00201)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.00281,y=-0.99998,z=0.00201)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.00278,y=-1.00000,z=0.00206)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.00278,y=-1.00000,z=0.00206)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.00275,y=-1.00000,z=0.00212)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.00275,y=-1.00000,z=0.00212)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.00272,y=-1.00000,z=0.00217)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.00272,y=-1.00000,z=0.00217)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.00268,y=-0.99998,z=0.00223)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.00268,y=-0.99998,z=0.00223)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.00264,y=-1.00000,z=0.00230)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.00264,y=-1.00000,z=0.00230)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.00260,y=-1.00000,z=0.00237)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.00260,y=-1.00000,z=0.00237)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.00256,y=-0.99999,z=0.00244)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.00256,y=-0.99999,z=0.00244)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.00251,y=-0.99998,z=0.00251)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.00251,y=-0.99998,z=0.00251)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.00247,y=-0.99998,z=0.00260)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.00247,y=-0.99998,z=0.00260)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.00241,y=-1.00000,z=0.00268)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.00241,y=-1.00000,z=0.00268)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.00236,y=-0.99999,z=0.00278)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.00236,y=-0.99999,z=0.00278)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.00230,y=-0.99999,z=0.00288)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.00230,y=-0.99999,z=0.00288)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.00224,y=-0.99997,z=0.00298)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.00224,y=-0.99997,z=0.00298)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.00217,y=-0.99998,z=0.00310)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.00217,y=-0.99998,z=0.00310)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.00210,y=-1.00000,z=0.00322)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.00210,y=-1.00000,z=0.00322)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.00202,y=-0.99997,z=0.00336)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.00202,y=-0.99997,z=0.00336)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.00193,y=-1.00000,z=0.00351)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.00193,y=-1.00000,z=0.00351)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.00202,y=-0.99999,z=0.00367)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.00202,y=-0.99999,z=0.00367)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.00192,y=-1.00000,z=0.00384)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.00192,y=-1.00000,z=0.00384)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.00202,y=-1.00000,z=0.00404)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.00202,y=-1.00000,z=0.00404)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.00191,y=-1.00000,z=0.00425)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.00191,y=-1.00000,z=0.00425)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.00202,y=-1.00000,z=0.00449)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.00202,y=-1.00000,z=0.00449)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.00190,y=-1.00000,z=0.00476)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.00190,y=-1.00000,z=0.00476)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.00202,y=-1.00000,z=0.00506)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.00202,y=-1.00000,z=0.00506)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.00189,y=-0.99997,z=0.00540)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.00189,y=-0.99997,z=0.00540)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.00203,y=-1.00000,z=0.00579)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.00203,y=-1.00000,z=0.00579)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.00187,y=-0.99997,z=0.00624)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.00187,y=-0.99997,z=0.00624)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.00203,y=-0.99996,z=0.00677)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.00203,y=-0.99996,z=0.00677)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.00185,y=-0.99997,z=0.00740)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.00185,y=-0.99997,z=0.00740)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.00204,y=-0.99996,z=0.00815)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.00204,y=-0.99996,z=0.00815)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.00181,y=-0.99995,z=0.00907)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.00181,y=-0.99995,z=0.00907)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.00205,y=-0.99994,z=0.01023)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.00205,y=-0.99994,z=0.01023)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.00176,y=-0.99994,z=0.01174)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.00176,y=-0.99994,z=0.01174)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.00206,y=-0.99993,z=0.01375)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.00206,y=-0.99993,z=0.01375)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.00166,y=-0.99984,z=0.01661)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.00166,y=-0.99984,z=0.01661)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.96472,y=0.26309,z=0.00964)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.96472,y=0.26309,z=0.00964)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.96473,y=0.26307,z=0.01096)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.96473,y=0.26307,z=0.01096)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.96471,y=0.26301,z=0.01269)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.96471,y=0.26301,z=0.01269)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.96470,y=0.26294,z=0.01508)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.96470,y=0.26294,z=0.01508)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.96469,y=0.26292,z=0.01859)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.96469,y=0.26292,z=0.01859)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.96298,y=-0.26951,z=0.00689)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.96298,y=-0.26951,z=0.00689)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.96297,y=-0.26953,z=0.00754)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.96297,y=-0.26953,z=0.00754)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.96295,y=-0.26954,z=0.00832)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.96295,y=-0.26954,z=0.00832)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.96296,y=-0.26957,z=0.00929)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.96296,y=-0.26957,z=0.00929)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.96291,y=-0.26959,z=0.01051)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.96291,y=-0.26959,z=0.01051)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.96286,y=-0.26962,z=0.01210)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.96286,y=-0.26962,z=0.01210)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.96287,y=-0.26969,z=0.01425)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.96287,y=-0.26969,z=0.01425)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.96279,y=-0.26974,z=0.01735)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.96279,y=-0.26974,z=0.01735)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.96800,y=-0.25087,z=0.00675)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.96800,y=-0.25087,z=0.00675)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.96797,y=-0.25086,z=0.00737)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.96797,y=-0.25086,z=0.00737)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.96798,y=-0.25086,z=0.00812)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.96798,y=-0.25086,z=0.00812)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.96797,y=-0.25086,z=0.00903)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.96797,y=-0.25086,z=0.00903)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.96797,y=-0.25086,z=0.01018)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.96797,y=-0.25086,z=0.01018)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.96796,y=-0.25085,z=0.01167)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.96796,y=-0.25085,z=0.01167)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.96790,y=-0.25084,z=0.01366)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.96790,y=-0.25084,z=0.01366)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.96787,y=-0.25084,z=0.01647)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.96787,y=-0.25084,z=0.01647)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.96815,y=0.25027,z=0.00660)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.96815,y=0.25027,z=0.00660)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.96817,y=0.25027,z=0.00720)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.96817,y=0.25027,z=0.00720)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.96814,y=0.25026,z=0.00791)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.96814,y=0.25026,z=0.00791)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.96814,y=0.25025,z=0.00877)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.96814,y=0.25025,z=0.00877)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.96812,y=0.25024,z=0.00985)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.96812,y=0.25024,z=0.00985)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.96814,y=0.25024,z=0.01124)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.96814,y=0.25024,z=0.01124)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.96810,y=0.25023,z=0.01307)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.96810,y=0.25023,z=0.01307)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.96812,y=0.25023,z=0.01563)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.96812,y=0.25023,z=0.01563)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.96796,y=0.25017,z=0.01942)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.96796,y=0.25017,z=0.01942)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.65302,y=0.75733,z=0.00474)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.65302,y=0.75733,z=0.00474)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.65305,y=0.75731,z=0.00504)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.65305,y=0.75731,z=0.00504)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.65309,y=0.75727,z=0.00538)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.65309,y=0.75727,z=0.00538)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.65313,y=0.75724,z=0.00576)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.65313,y=0.75724,z=0.00576)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.65319,y=0.75721,z=0.00621)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.65319,y=0.75721,z=0.00621)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.65322,y=0.75713,z=0.00673)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.65322,y=0.75713,z=0.00673)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.65328,y=0.75706,z=0.00735)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.65328,y=0.75706,z=0.00735)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.65336,y=0.75699,z=0.00810)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.65336,y=0.75699,z=0.00810)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.65343,y=0.75691,z=0.00901)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.65343,y=0.75691,z=0.00901)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.65354,y=0.75685,z=0.01015)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.65354,y=0.75685,z=0.01015)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.65365,y=0.75672,z=0.01162)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.65365,y=0.75672,z=0.01162)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.65379,y=0.75655,z=0.01359)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.65379,y=0.75655,z=0.01359)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.65395,y=0.75634,z=0.01637)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.65395,y=0.75634,z=0.01637)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.13192,y=0.99122,z=0.00725)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.13192,y=0.99122,z=0.00725)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.13191,y=0.99122,z=0.00797)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.13191,y=0.99122,z=0.00797)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.13190,y=0.99123,z=0.00885)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.13190,y=0.99123,z=0.00885)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.13189,y=0.99120,z=0.00995)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.13189,y=0.99120,z=0.00995)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.13187,y=0.99119,z=0.01137)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.13187,y=0.99119,z=0.01137)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.13185,y=0.99119,z=0.01325)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.13185,y=0.99119,z=0.01325)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.13181,y=0.99111,z=0.01588)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.13181,y=0.99111,z=0.01588)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.13176,y=0.99109,z=0.01981)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.13176,y=0.99109,z=0.01981)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.76774,y=0.64073,z=0.00731)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.76774,y=0.64073,z=0.00731)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.76772,y=0.64073,z=0.00805)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.76772,y=0.64073,z=0.00805)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.76772,y=0.64075,z=0.00895)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.76772,y=0.64075,z=0.00895)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.76768,y=0.64074,z=0.01008)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.76768,y=0.64074,z=0.01008)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.76768,y=0.64077,z=0.01153)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.76768,y=0.64077,z=0.01153)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.76763,y=0.64077,z=0.01347)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.76763,y=0.64077,z=0.01347)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.76755,y=0.64076,z=0.01619)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.76755,y=0.64076,z=0.01619)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.95748,y=0.28837,z=0.00510)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.95748,y=0.28837,z=0.00510)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.95754,y=0.28835,z=0.00545)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.95754,y=0.28835,z=0.00545)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.95757,y=0.28832,z=0.00584)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.95757,y=0.28832,z=0.00584)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.95753,y=0.28827,z=0.00630)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.95753,y=0.28827,z=0.00630)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.95752,y=0.28821,z=0.00684)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.95752,y=0.28821,z=0.00684)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.95756,y=0.28816,z=0.00748)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.95756,y=0.28816,z=0.00748)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.95757,y=0.28814,z=0.00825)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.95757,y=0.28814,z=0.00825)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.95758,y=0.28810,z=0.00919)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.95758,y=0.28810,z=0.00919)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.95757,y=0.28805,z=0.01039)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.95757,y=0.28805,z=0.01039)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.95758,y=0.28799,z=0.01193)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.95758,y=0.28799,z=0.01193)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.95753,y=0.28789,z=0.01402)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.95753,y=0.28789,z=0.01402)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.95760,y=0.28779,z=0.01699)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.95760,y=0.28779,z=0.01699)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.85303,y=0.52186,z=0.00591)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.85303,y=0.52186,z=0.00591)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.85306,y=0.52182,z=0.00638)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.85306,y=0.52182,z=0.00638)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.85308,y=0.52176,z=0.00693)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.85308,y=0.52176,z=0.00693)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.85309,y=0.52172,z=0.00759)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.85309,y=0.52172,z=0.00759)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.85310,y=0.52167,z=0.00838)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.85310,y=0.52167,z=0.00838)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.85315,y=0.52162,z=0.00936)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.85315,y=0.52162,z=0.00936)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.85316,y=0.52154,z=0.01060)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.85316,y=0.52154,z=0.01060)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.85318,y=0.52143,z=0.01221)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.85318,y=0.52143,z=0.01221)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.85321,y=0.52130,z=0.01441)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.85321,y=0.52130,z=0.01441)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.85325,y=0.52117,z=0.01758)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.85325,y=0.52117,z=0.01758)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.09778,y=0.99514,z=0.00808)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.09778,y=0.99514,z=0.00808)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.09799,y=0.99515,z=0.00899)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.09799,y=0.99515,z=0.00899)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.09824,y=0.99514,z=0.01013)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.09824,y=0.99514,z=0.01013)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.09798,y=0.99513,z=0.01160)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.09798,y=0.99513,z=0.01160)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.09831,y=0.99505,z=0.01356)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.09831,y=0.99505,z=0.01356)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.09797,y=0.99502,z=0.01633)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.09797,y=0.99502,z=0.01633)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.90120,y=0.43344,z=0.00440)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.90120,y=0.43344,z=0.00440)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.90117,y=0.43347,z=0.00466)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.90117,y=0.43347,z=0.00466)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.90115,y=0.43352,z=0.00494)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.90115,y=0.43352,z=0.00494)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.90113,y=0.43357,z=0.00527)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.90113,y=0.43357,z=0.00527)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.90111,y=0.43364,z=0.00564)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.90111,y=0.43364,z=0.00564)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.90104,y=0.43369,z=0.00607)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.90104,y=0.43369,z=0.00607)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.90102,y=0.43377,z=0.00656)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.90102,y=0.43377,z=0.00656)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.90098,y=0.43387,z=0.00715)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.90098,y=0.43387,z=0.00715)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.90088,y=0.43396,z=0.00785)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.90088,y=0.43396,z=0.00785)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.90082,y=0.43410,z=0.00870)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.90082,y=0.43410,z=0.00870)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.90092,y=0.43387,z=0.00976)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.90092,y=0.43387,z=0.00976)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.90085,y=0.43403,z=0.01111)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.90085,y=0.43403,z=0.01111)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.90094,y=0.43369,z=0.01291)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.90094,y=0.43369,z=0.01291)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.90084,y=0.43388,z=0.01539)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.90084,y=0.43388,z=0.01539)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.90061,y=0.43412,z=0.01904)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.90061,y=0.43412,z=0.01904)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.98495,y=-0.17285,z=0.00529)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.98495,y=-0.17285,z=0.00529)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.98492,y=-0.17289,z=0.00567)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.98492,y=-0.17289,z=0.00567)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.98497,y=-0.17296,z=0.00610)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.98497,y=-0.17296,z=0.00610)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.98490,y=-0.17301,z=0.00660)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.98490,y=-0.17301,z=0.00660)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.98488,y=-0.17308,z=0.00720)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.98488,y=-0.17308,z=0.00720)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.98487,y=-0.17317,z=0.00791)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.98487,y=-0.17317,z=0.00791)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.98481,y=-0.17327,z=0.00877)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.98481,y=-0.17327,z=0.00877)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.98479,y=-0.17341,z=0.00985)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.98479,y=-0.17341,z=0.00985)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.98478,y=-0.17359,z=0.01124)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.98478,y=-0.17359,z=0.01124)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.98470,y=-0.17381,z=0.01307)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.98470,y=-0.17381,z=0.01307)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.98461,y=-0.17412,z=0.01562)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.98461,y=-0.17412,z=0.01562)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.98467,y=-0.17365,z=0.01940)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.98467,y=-0.17365,z=0.01940)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.93247,y=0.36112,z=0.00836)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.93247,y=0.36112,z=0.00836)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.93243,y=0.36121,z=0.00933)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.93243,y=0.36121,z=0.00933)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.93238,y=0.36133,z=0.01056)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.93238,y=0.36133,z=0.01056)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.93233,y=0.36149,z=0.01217)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.93233,y=0.36149,z=0.01217)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.93219,y=0.36168,z=0.01435)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.93219,y=0.36168,z=0.01435)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.93198,y=0.36195,z=0.01749)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.93198,y=0.36195,z=0.01749)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.99033,y=-0.13852,z=0.00410)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.99033,y=-0.13852,z=0.00410)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.99036,y=-0.13846,z=0.00432)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.99036,y=-0.13846,z=0.00432)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.99035,y=-0.13838,z=0.00457)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.99035,y=-0.13838,z=0.00457)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.99040,y=-0.13830,z=0.00484)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.99040,y=-0.13830,z=0.00484)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.99044,y=-0.13821,z=0.00516)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.99044,y=-0.13821,z=0.00516)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.99041,y=-0.13810,z=0.00551)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.99041,y=-0.13810,z=0.00551)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.99042,y=-0.13798,z=0.00592)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.99042,y=-0.13798,z=0.00592)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.99042,y=-0.13815,z=0.00640)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.99042,y=-0.13815,z=0.00640)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.99040,y=-0.13801,z=0.00695)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.99040,y=-0.13801,z=0.00695)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.99043,y=-0.13785,z=0.00762)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.99043,y=-0.13785,z=0.00762)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.99040,y=-0.13806,z=0.00842)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.99040,y=-0.13806,z=0.00842)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.99040,y=-0.13786,z=0.00941)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.99040,y=-0.13786,z=0.00941)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.99034,y=-0.13812,z=0.01067)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.99034,y=-0.13812,z=0.01067)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.99034,y=-0.13787,z=0.01231)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.99034,y=-0.13787,z=0.01231)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.99032,y=-0.13825,z=0.01455)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.99032,y=-0.13825,z=0.01455)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.99030,y=-0.13791,z=0.01779)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.99030,y=-0.13791,z=0.01779)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.66032,y=-0.75096,z=0.00708)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.66032,y=-0.75096,z=0.00708)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.66038,y=-0.75089,z=0.00777)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.66038,y=-0.75089,z=0.00777)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.66046,y=-0.75082,z=0.00861)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.66046,y=-0.75082,z=0.00861)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.66056,y=-0.75072,z=0.00964)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.66056,y=-0.75072,z=0.00964)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.66068,y=-0.75060,z=0.01097)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.66068,y=-0.75060,z=0.01097)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.66082,y=-0.75041,z=0.01271)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.66082,y=-0.75041,z=0.01271)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.66088,y=-0.75031,z=0.01511)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.66088,y=-0.75031,z=0.01511)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.66096,y=-0.75014,z=0.01862)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.66096,y=-0.75014,z=0.01862)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.56617,y=-0.82427,z=0.00778)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.56617,y=-0.82427,z=0.00778)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.56602,y=-0.82433,z=0.00862)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.56602,y=-0.82433,z=0.00862)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.56618,y=-0.82420,z=0.00966)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.56618,y=-0.82420,z=0.00966)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.56603,y=-0.82431,z=0.01099)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.56603,y=-0.82431,z=0.01099)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.56582,y=-0.82446,z=0.01274)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.56582,y=-0.82446,z=0.01274)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.56604,y=-0.82428,z=0.01516)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.56604,y=-0.82428,z=0.01516)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.56569,y=-0.82441,z=0.01870)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.56569,y=-0.82441,z=0.01870)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.94695,y=-0.32137,z=0.00547)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.94695,y=-0.32137,z=0.00547)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.94693,y=-0.32140,z=0.00587)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.94693,y=-0.32140,z=0.00587)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.94693,y=-0.32145,z=0.00633)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.94693,y=-0.32145,z=0.00633)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.94689,y=-0.32146,z=0.00688)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.94689,y=-0.32146,z=0.00688)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.94690,y=-0.32148,z=0.00753)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.94690,y=-0.32148,z=0.00753)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.94686,y=-0.32149,z=0.00831)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.94686,y=-0.32149,z=0.00831)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.94685,y=-0.32152,z=0.00927)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.94685,y=-0.32152,z=0.00927)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.94681,y=-0.32155,z=0.01049)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.94681,y=-0.32155,z=0.01049)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.94681,y=-0.32160,z=0.01208)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.94681,y=-0.32160,z=0.01208)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.94673,y=-0.32165,z=0.01423)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.94673,y=-0.32165,z=0.01423)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.94669,y=-0.32174,z=0.01731)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.94669,y=-0.32174,z=0.01731)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.91121,y=-0.41188,z=0.00638)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.91121,y=-0.41188,z=0.00638)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.91121,y=-0.41190,z=0.00693)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.91121,y=-0.41190,z=0.00693)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.91120,y=-0.41192,z=0.00759)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.91120,y=-0.41192,z=0.00759)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.91118,y=-0.41194,z=0.00839)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.91118,y=-0.41194,z=0.00839)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.91117,y=-0.41197,z=0.00937)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.91117,y=-0.41197,z=0.00937)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.91111,y=-0.41199,z=0.01061)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.91111,y=-0.41199,z=0.01061)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.91109,y=-0.41204,z=0.01224)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.91109,y=-0.41204,z=0.01224)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.91100,y=-0.41208,z=0.01445)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.91100,y=-0.41208,z=0.01445)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.91093,y=-0.41217,z=0.01764)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.91093,y=-0.41217,z=0.01764)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.60679,y=-0.79484,z=0.00672)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.60679,y=-0.79484,z=0.00672)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.60672,y=-0.79490,z=0.00734)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.60672,y=-0.79490,z=0.00734)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.60661,y=-0.79494,z=0.00808)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.60661,y=-0.79494,z=0.00808)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.60651,y=-0.79503,z=0.00899)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.60651,y=-0.79503,z=0.00899)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.60639,y=-0.79509,z=0.01013)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.60639,y=-0.79509,z=0.01013)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.60626,y=-0.79521,z=0.01160)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.60626,y=-0.79521,z=0.01160)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.60604,y=-0.79532,z=0.01357)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.60604,y=-0.79532,z=0.01357)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.60574,y=-0.79547,z=0.01635)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.60574,y=-0.79547,z=0.01635)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.34996,y=-0.93676,z=0.00496)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.34996,y=-0.93676,z=0.00496)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.35008,y=-0.93672,z=0.00529)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.35008,y=-0.93672,z=0.00529)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.34996,y=-0.93676,z=0.00567)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.34996,y=-0.93676,z=0.00567)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.35008,y=-0.93668,z=0.00610)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.35008,y=-0.93668,z=0.00610)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.34995,y=-0.93674,z=0.00660)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.34995,y=-0.93674,z=0.00660)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.35010,y=-0.93668,z=0.00720)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.35010,y=-0.93668,z=0.00720)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.34994,y=-0.93673,z=0.00791)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.34994,y=-0.93673,z=0.00791)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.35012,y=-0.93664,z=0.00877)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.35012,y=-0.93664,z=0.00877)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.34992,y=-0.93671,z=0.00986)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.34992,y=-0.93671,z=0.00986)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.35016,y=-0.93660,z=0.01124)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.35016,y=-0.93660,z=0.01124)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.34990,y=-0.93669,z=0.01308)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.34990,y=-0.93669,z=0.01308)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.35022,y=-0.93652,z=0.01563)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.35022,y=-0.93652,z=0.01563)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.34982,y=-0.93664,z=0.01943)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.34982,y=-0.93664,z=0.01943)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.90704,y=-0.42096,z=0.00487)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.90704,y=-0.42096,z=0.00487)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.90706,y=-0.42101,z=0.00518)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.90706,y=-0.42101,z=0.00518)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.90701,y=-0.42100,z=0.00554)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.90701,y=-0.42100,z=0.00554)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.90701,y=-0.42105,z=0.00596)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.90701,y=-0.42105,z=0.00596)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.90701,y=-0.42107,z=0.00643)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.90701,y=-0.42107,z=0.00643)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.90699,y=-0.42109,z=0.00700)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.90699,y=-0.42109,z=0.00700)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.90695,y=-0.42111,z=0.00767)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.90695,y=-0.42111,z=0.00767)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.90694,y=-0.42115,z=0.00848)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.90694,y=-0.42115,z=0.00848)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.90694,y=-0.42121,z=0.00949)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.90694,y=-0.42121,z=0.00949)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.90688,y=-0.42125,z=0.01077)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.90688,y=-0.42125,z=0.01077)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.90682,y=-0.42131,z=0.01245)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.90682,y=-0.42131,z=0.01245)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.90674,y=-0.42137,z=0.01474)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.90674,y=-0.42137,z=0.01474)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.90662,y=-0.42145,z=0.01808)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.90662,y=-0.42145,z=0.01808)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.44455,y=0.89580,z=0.00154)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.44455,y=0.89580,z=0.00154)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.44456,y=0.89578,z=0.00157)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.44456,y=0.89578,z=0.00157)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.44453,y=0.89571,z=0.00160)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.44453,y=0.89571,z=0.00160)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.44455,y=0.89571,z=0.00163)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.44455,y=0.89571,z=0.00163)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.44459,y=0.89577,z=0.00167)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.44459,y=0.89577,z=0.00167)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.44457,y=0.89578,z=0.00170)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.44457,y=0.89578,z=0.00170)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.44458,y=0.89577,z=0.00174)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.44458,y=0.89577,z=0.00174)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.44455,y=0.89568,z=0.00178)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.44455,y=0.89568,z=0.00178)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.44461,y=0.89575,z=0.00182)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.44461,y=0.89575,z=0.00182)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.44462,y=0.89574,z=0.00186)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.44462,y=0.89574,z=0.00186)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.44464,y=0.89575,z=0.00191)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.44464,y=0.89575,z=0.00191)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.44461,y=0.89567,z=0.00195)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.44461,y=0.89567,z=0.00195)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.44467,y=0.89576,z=0.00200)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.44467,y=0.89576,z=0.00200)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.44465,y=0.89570,z=0.00205)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.44465,y=0.89570,z=0.00205)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.44466,y=0.89568,z=0.00211)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.44466,y=0.89568,z=0.00211)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.44469,y=0.89570,z=0.00216)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.44469,y=0.89570,z=0.00216)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.44468,y=0.89565,z=0.00222)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.44468,y=0.89565,z=0.00222)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.44471,y=0.89567,z=0.00229)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.44471,y=0.89567,z=0.00229)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.44471,y=0.89563,z=0.00235)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.44471,y=0.89563,z=0.00235)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.44473,y=0.89564,z=0.00243)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.44473,y=0.89564,z=0.00243)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.44475,y=0.89563,z=0.00250)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.44475,y=0.89563,z=0.00250)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.44478,y=0.89565,z=0.00258)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.44478,y=0.89565,z=0.00258)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.44479,y=0.89561,z=0.00267)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.44479,y=0.89561,z=0.00267)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.44481,y=0.89559,z=0.00276)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.44481,y=0.89559,z=0.00276)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.44483,y=0.89558,z=0.00286)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.44483,y=0.89558,z=0.00286)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.44487,y=0.89559,z=0.00296)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.44487,y=0.89559,z=0.00296)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.44492,y=0.89562,z=0.00308)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.44492,y=0.89562,z=0.00308)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.44492,y=0.89555,z=0.00320)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.44492,y=0.89555,z=0.00320)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.44497,y=0.89558,z=0.00334)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.44497,y=0.89558,z=0.00334)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.44499,y=0.89554,z=0.00348)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.44499,y=0.89554,z=0.00348)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.44503,y=0.89551,z=0.00364)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.44503,y=0.89551,z=0.00364)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.44507,y=0.89550,z=0.00381)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.44507,y=0.89550,z=0.00381)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.44511,y=0.89547,z=0.00400)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.44511,y=0.89547,z=0.00400)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.44517,y=0.89545,z=0.00421)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.44517,y=0.89545,z=0.00421)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.44522,y=0.89543,z=0.00445)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.44522,y=0.89543,z=0.00445)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.44527,y=0.89537,z=0.00471)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.44527,y=0.89537,z=0.00471)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.44534,y=0.89535,z=0.00500)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.44534,y=0.89535,z=0.00500)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.44541,y=0.89532,z=0.00534)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.44541,y=0.89532,z=0.00534)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.44548,y=0.89528,z=0.00572)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.44548,y=0.89528,z=0.00572)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.44557,y=0.89524,z=0.00616)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.44557,y=0.89524,z=0.00616)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.44568,y=0.89519,z=0.00667)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.44568,y=0.89519,z=0.00667)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.44579,y=0.89511,z=0.00728)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.44579,y=0.89511,z=0.00728)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.44593,y=0.89503,z=0.00801)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.44593,y=0.89503,z=0.00801)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.44611,y=0.89494,z=0.00890)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.44611,y=0.89494,z=0.00890)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.44599,y=0.89498,z=0.01001)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.44599,y=0.89498,z=0.01001)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.44628,y=0.89484,z=0.01144)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.44628,y=0.89484,z=0.01144)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.44610,y=0.89488,z=0.01336)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.44610,y=0.89488,z=0.01336)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.44587,y=0.89494,z=0.01604)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.44587,y=0.89494,z=0.01604)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.49947,y=-0.86632,z=0.00339)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.49947,y=-0.86632,z=0.00339)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.49951,y=-0.86634,z=0.00354)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.49951,y=-0.86634,z=0.00354)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.49952,y=-0.86633,z=0.00371)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.49952,y=-0.86633,z=0.00371)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.49953,y=-0.86631,z=0.00389)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.49953,y=-0.86631,z=0.00389)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.49954,y=-0.86627,z=0.00409)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.49954,y=-0.86627,z=0.00409)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.49957,y=-0.86627,z=0.00431)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.49957,y=-0.86627,z=0.00431)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.49954,y=-0.86626,z=0.00455)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.49954,y=-0.86626,z=0.00455)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.49953,y=-0.86629,z=0.00483)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.49953,y=-0.86629,z=0.00483)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.49953,y=-0.86634,z=0.00514)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.49953,y=-0.86634,z=0.00514)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.49950,y=-0.86633,z=0.00549)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.49950,y=-0.86633,z=0.00549)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.49945,y=-0.86630,z=0.00589)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.49945,y=-0.86630,z=0.00589)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.49943,y=-0.86634,z=0.00636)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.49943,y=-0.86634,z=0.00636)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.49939,y=-0.86635,z=0.00691)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.49939,y=-0.86635,z=0.00691)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.49936,y=-0.86638,z=0.00757)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.49936,y=-0.86638,z=0.00757)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.49929,y=-0.86639,z=0.00836)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.49929,y=-0.86639,z=0.00836)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.49923,y=-0.86642,z=0.00933)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.49923,y=-0.86642,z=0.00933)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.49916,y=-0.86648,z=0.01056)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.49916,y=-0.86648,z=0.01056)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.49903,y=-0.86648,z=0.01217)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.49903,y=-0.86648,z=0.01217)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.49888,y=-0.86655,z=0.01436)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.49888,y=-0.86655,z=0.01436)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.49864,y=-0.86659,z=0.01750)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.49864,y=-0.86659,z=0.01750)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.98588,y=-0.16752,z=0.00433)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.98588,y=-0.16752,z=0.00433)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.98590,y=-0.16750,z=0.00458)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.98590,y=-0.16750,z=0.00458)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.98589,y=-0.16748,z=0.00485)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.98589,y=-0.16748,z=0.00485)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.98589,y=-0.16745,z=0.00517)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.98589,y=-0.16745,z=0.00517)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.98588,y=-0.16741,z=0.00552)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.98588,y=-0.16741,z=0.00552)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.98586,y=-0.16737,z=0.00593)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.98586,y=-0.16737,z=0.00593)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.98587,y=-0.16736,z=0.00640)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.98587,y=-0.16736,z=0.00640)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.98588,y=-0.16735,z=0.00696)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.98588,y=-0.16735,z=0.00696)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.98585,y=-0.16733,z=0.00762)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.98585,y=-0.16733,z=0.00762)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.98584,y=-0.16731,z=0.00842)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.98584,y=-0.16731,z=0.00842)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.98589,y=-0.16729,z=0.00941)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.98589,y=-0.16729,z=0.00941)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.98587,y=-0.16726,z=0.01066)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.98587,y=-0.16726,z=0.01066)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.98586,y=-0.16722,z=0.01230)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.98586,y=-0.16722,z=0.01230)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.98583,y=-0.16716,z=0.01453)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.98583,y=-0.16716,z=0.01453)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.98580,y=-0.16708,z=0.01775)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.98580,y=-0.16708,z=0.01775)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99939,y=-0.03541,z=0.00483)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99939,y=-0.03541,z=0.00483)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99938,y=-0.03540,z=0.00514)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99938,y=-0.03540,z=0.00514)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99937,y=-0.03541,z=0.00550)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99937,y=-0.03541,z=0.00550)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99942,y=-0.03540,z=0.00590)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99942,y=-0.03540,z=0.00590)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99938,y=-0.03538,z=0.00638)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99938,y=-0.03538,z=0.00638)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99934,y=-0.03540,z=0.00693)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99934,y=-0.03540,z=0.00693)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99935,y=-0.03538,z=0.00759)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99935,y=-0.03538,z=0.00759)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99934,y=-0.03541,z=0.00838)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99934,y=-0.03541,z=0.00838)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99935,y=-0.03539,z=0.00936)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99935,y=-0.03539,z=0.00936)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99931,y=-0.03541,z=0.01060)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99931,y=-0.03541,z=0.01060)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99926,y=-0.03539,z=0.01222)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99926,y=-0.03539,z=0.01222)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99928,y=-0.03543,z=0.01443)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99928,y=-0.03543,z=0.01443)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99921,y=-0.03539,z=0.01761)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99921,y=-0.03539,z=0.01761)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.48940,y=-0.87202,z=0.00289)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.48940,y=-0.87202,z=0.00289)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.48945,y=-0.87201,z=0.00300)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.48945,y=-0.87201,z=0.00300)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.48949,y=-0.87199,z=0.00312)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.48949,y=-0.87199,z=0.00312)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.48956,y=-0.87200,z=0.00324)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.48956,y=-0.87200,z=0.00324)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.48959,y=-0.87194,z=0.00338)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.48959,y=-0.87194,z=0.00338)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.48965,y=-0.87191,z=0.00353)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.48965,y=-0.87191,z=0.00353)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.48972,y=-0.87189,z=0.00369)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.48972,y=-0.87189,z=0.00369)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.48977,y=-0.87184,z=0.00387)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.48977,y=-0.87184,z=0.00387)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.48985,y=-0.87180,z=0.00407)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.48985,y=-0.87180,z=0.00407)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.48992,y=-0.87175,z=0.00428)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.48992,y=-0.87175,z=0.00428)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.49000,y=-0.87171,z=0.00453)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.49000,y=-0.87171,z=0.00453)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.48992,y=-0.87177,z=0.00480)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.48992,y=-0.87177,z=0.00480)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.49000,y=-0.87172,z=0.00510)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.49000,y=-0.87172,z=0.00510)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.49010,y=-0.87166,z=0.00545)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.49010,y=-0.87166,z=0.00545)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.49000,y=-0.87174,z=0.00585)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.49000,y=-0.87174,z=0.00585)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.48989,y=-0.87183,z=0.00631)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.48989,y=-0.87183,z=0.00631)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.48999,y=-0.87170,z=0.00685)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.48999,y=-0.87170,z=0.00685)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.49012,y=-0.87161,z=0.00749)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.49012,y=-0.87161,z=0.00749)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.48997,y=-0.87170,z=0.00827)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.48997,y=-0.87170,z=0.00827)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.49013,y=-0.87158,z=0.00922)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.49013,y=-0.87158,z=0.00922)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.48994,y=-0.87167,z=0.01042)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.48994,y=-0.87167,z=0.01042)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.49015,y=-0.87154,z=0.01198)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.49015,y=-0.87154,z=0.01198)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.48988,y=-0.87164,z=0.01410)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.48988,y=-0.87164,z=0.01410)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.49021,y=-0.87151,z=0.01711)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.49021,y=-0.87151,z=0.01711)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99937,y=0.03652,z=0.00367)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99937,y=0.03652,z=0.00367)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99934,y=0.03652,z=0.00384)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99934,y=0.03652,z=0.00384)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99936,y=0.03653,z=0.00404)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99936,y=0.03653,z=0.00404)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99931,y=0.03653,z=0.00425)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99931,y=0.03653,z=0.00425)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99934,y=0.03653,z=0.00449)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99934,y=0.03653,z=0.00449)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99931,y=0.03653,z=0.00476)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99931,y=0.03653,z=0.00476)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99935,y=0.03653,z=0.00506)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99935,y=0.03653,z=0.00506)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99937,y=0.03654,z=0.00540)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99937,y=0.03654,z=0.00540)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99936,y=0.03654,z=0.00579)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99936,y=0.03654,z=0.00579)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99933,y=0.03654,z=0.00625)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99933,y=0.03654,z=0.00625)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99931,y=0.03654,z=0.00677)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99931,y=0.03654,z=0.00677)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99930,y=0.03654,z=0.00740)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99930,y=0.03654,z=0.00740)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99931,y=0.03654,z=0.00816)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99931,y=0.03654,z=0.00816)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99928,y=0.03654,z=0.00908)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99928,y=0.03654,z=0.00908)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99928,y=0.03654,z=0.01025)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99928,y=0.03654,z=0.01025)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99924,y=0.03654,z=0.01176)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99924,y=0.03654,z=0.01176)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99924,y=0.03655,z=0.01378)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99924,y=0.03655,z=0.01378)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99917,y=0.03655,z=0.01665)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99917,y=0.03655,z=0.01665)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.42304,y=0.90610,z=0.00891)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.42304,y=0.90610,z=0.00891)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.42293,y=0.90609,z=0.01002)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.42293,y=0.90609,z=0.01002)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.42280,y=0.90616,z=0.01146)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.42280,y=0.90616,z=0.01146)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.42260,y=0.90618,z=0.01337)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.42260,y=0.90618,z=0.01337)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.42235,y=0.90629,z=0.01606)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.42235,y=0.90629,z=0.01606)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.19597,y=0.98056,z=0.00676)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.19597,y=0.98056,z=0.00676)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.19597,y=0.98059,z=0.00738)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.19597,y=0.98059,z=0.00738)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.19597,y=0.98057,z=0.00813)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.19597,y=0.98057,z=0.00813)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.19596,y=0.98058,z=0.00905)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.19596,y=0.98058,z=0.00905)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.19595,y=0.98055,z=0.01021)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.19595,y=0.98055,z=0.01021)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.19593,y=0.98052,z=0.01170)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.19593,y=0.98052,z=0.01170)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.19592,y=0.98055,z=0.01370)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.19592,y=0.98055,z=0.01370)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.19588,y=0.98049,z=0.01653)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.19588,y=0.98049,z=0.01653)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.52197,y=0.85291,z=0.00879)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.52197,y=0.85291,z=0.00879)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.52213,y=0.85279,z=0.00987)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.52213,y=0.85279,z=0.00987)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.52196,y=0.85292,z=0.01126)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.52196,y=0.85292,z=0.01126)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.52215,y=0.85273,z=0.01310)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.52215,y=0.85273,z=0.01310)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.52186,y=0.85285,z=0.01567)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.52186,y=0.85285,z=0.01567)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.52216,y=0.85260,z=0.01948)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.52216,y=0.85260,z=0.01948)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.90452,y=0.42619,z=0.01288)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.90452,y=0.42619,z=0.01288)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.90455,y=0.42611,z=0.01534)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.90455,y=0.42611,z=0.01534)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.90452,y=0.42606,z=0.01898)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.90452,y=0.42606,z=0.01898)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> accel: 4
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.68807,y=0.72558,z=0.01081)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.68807,y=0.72558,z=0.01081)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.68804,y=0.72553,z=0.01250)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.68804,y=0.72553,z=0.01250)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.68805,y=0.72552,z=0.01481)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.68805,y=0.72552,z=0.01481)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.68799,y=0.72544,z=0.01818)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.68799,y=0.72544,z=0.01818)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.51807,y=0.85533,z=0.00654)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.51807,y=0.85533,z=0.00654)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.51794,y=0.85540,z=0.00712)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.51794,y=0.85540,z=0.00712)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.51805,y=0.85530,z=0.00781)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.51805,y=0.85530,z=0.00781)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.51790,y=0.85541,z=0.00866)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.51790,y=0.85541,z=0.00866)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.51806,y=0.85531,z=0.00971)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.51806,y=0.85531,z=0.00971)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.51785,y=0.85542,z=0.01105)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.51785,y=0.85542,z=0.01105)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.51805,y=0.85523,z=0.01282)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.51805,y=0.85523,z=0.01282)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.51775,y=0.85536,z=0.01527)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.51775,y=0.85536,z=0.01527)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.51802,y=0.85516,z=0.01887)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.51802,y=0.85516,z=0.01887)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.15412,y=0.98804,z=0.00734)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.15412,y=0.98804,z=0.00734)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.15393,y=0.98803,z=0.00808)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.15393,y=0.98803,z=0.00808)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.15414,y=0.98801,z=0.00899)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.15414,y=0.98801,z=0.00899)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.15392,y=0.98804,z=0.01013)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.15392,y=0.98804,z=0.01013)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.15418,y=0.98795,z=0.01159)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.15418,y=0.98795,z=0.01159)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.15388,y=0.98800,z=0.01356)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.15388,y=0.98800,z=0.01356)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.15425,y=0.98793,z=0.01632)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.15425,y=0.98793,z=0.01632)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.84858,y=0.52908,z=0.00539)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.84858,y=0.52908,z=0.00539)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.84855,y=0.52912,z=0.00578)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.84855,y=0.52912,z=0.00578)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.84852,y=0.52916,z=0.00623)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.84852,y=0.52916,z=0.00623)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.84848,y=0.52920,z=0.00675)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.84848,y=0.52920,z=0.00675)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.84845,y=0.52927,z=0.00737)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.84845,y=0.52927,z=0.00737)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.84839,y=0.52933,z=0.00812)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.84839,y=0.52933,z=0.00812)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.84831,y=0.52940,z=0.00903)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.84831,y=0.52940,z=0.00903)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.84823,y=0.52951,z=0.01018)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.84823,y=0.52951,z=0.01018)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.84810,y=0.52963,z=0.01167)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.84810,y=0.52963,z=0.01167)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.84795,y=0.52980,z=0.01366)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.84795,y=0.52980,z=0.01366)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.84780,y=0.53008,z=0.01646)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.84780,y=0.53008,z=0.01646)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.97577,y=-0.21868,z=0.00894)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.97577,y=-0.21868,z=0.00894)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.97578,y=-0.21852,z=0.01007)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.97578,y=-0.21852,z=0.01007)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.97581,y=-0.21832,z=0.01152)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.97581,y=-0.21832,z=0.01152)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.97584,y=-0.21805,z=0.01346)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.97584,y=-0.21805,z=0.01346)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.97588,y=-0.21767,z=0.01618)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.97588,y=-0.21767,z=0.01618)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.39834,y=-0.91719,z=0.00828)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.39834,y=-0.91719,z=0.00828)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.39813,y=-0.91727,z=0.00924)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.39813,y=-0.91727,z=0.00924)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.39787,y=-0.91740,z=0.01044)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.39787,y=-0.91740,z=0.01044)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.39801,y=-0.91727,z=0.01201)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.39801,y=-0.91727,z=0.01201)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.39762,y=-0.91743,z=0.01413)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.39762,y=-0.91743,z=0.01413)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.39781,y=-0.91735,z=0.01715)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.39781,y=-0.91735,z=0.01715)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.43310,y=-0.90133,z=0.00635)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.43310,y=-0.90133,z=0.00635)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.43317,y=-0.90129,z=0.00689)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.43317,y=-0.90129,z=0.00689)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.43325,y=-0.90124,z=0.00754)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.43325,y=-0.90124,z=0.00754)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.43336,y=-0.90118,z=0.00833)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.43336,y=-0.90118,z=0.00833)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.43349,y=-0.90113,z=0.00929)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.43349,y=-0.90113,z=0.00929)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.43364,y=-0.90102,z=0.01051)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.43364,y=-0.90102,z=0.01051)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.43384,y=-0.90089,z=0.01210)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.43384,y=-0.90089,z=0.01210)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.43410,y=-0.90078,z=0.01426)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.43410,y=-0.90078,z=0.01426)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.43372,y=-0.90085,z=0.01735)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.43372,y=-0.90085,z=0.01735)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.60890,y=-0.79319,z=0.00875)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.60890,y=-0.79319,z=0.00875)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.60898,y=-0.79314,z=0.00982)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.60898,y=-0.79314,z=0.00982)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.60905,y=-0.79305,z=0.01120)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.60905,y=-0.79305,z=0.01120)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.60914,y=-0.79292,z=0.01302)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.60914,y=-0.79292,z=0.01302)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.60926,y=-0.79282,z=0.01554)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.60926,y=-0.79282,z=0.01554)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.60939,y=-0.79260,z=0.01929)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.60939,y=-0.79260,z=0.01929)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.30497,y=-0.95233,z=0.01173)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.30497,y=-0.95233,z=0.01173)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.30511,y=-0.95224,z=0.01374)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.30511,y=-0.95224,z=0.01374)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.30532,y=-0.95213,z=0.01659)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.30532,y=-0.95213,z=0.01659)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.40583,y=-0.91393,z=0.00628)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.40583,y=-0.91393,z=0.00628)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.40595,y=-0.91385,z=0.00682)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.40595,y=-0.91385,z=0.00682)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.40611,y=-0.91379,z=0.00745)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.40611,y=-0.91379,z=0.00745)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.40595,y=-0.91388,z=0.00822)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.40595,y=-0.91388,z=0.00822)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.40614,y=-0.91379,z=0.00916)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.40614,y=-0.91379,z=0.00916)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.40594,y=-0.91385,z=0.01034)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.40594,y=-0.91385,z=0.01034)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.40617,y=-0.91371,z=0.01188)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.40617,y=-0.91371,z=0.01188)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.40589,y=-0.91380,z=0.01395)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.40589,y=-0.91380,z=0.01395)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.40621,y=-0.91360,z=0.01689)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.40621,y=-0.91360,z=0.01689)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.13166,y=-0.99127,z=0.00695)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.13166,y=-0.99127,z=0.00695)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.13163,y=-0.99125,z=0.00761)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.13163,y=-0.99125,z=0.00761)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.13159,y=-0.99127,z=0.00841)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.13159,y=-0.99127,z=0.00841)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.13154,y=-0.99126,z=0.00940)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.13154,y=-0.99126,z=0.00940)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.13148,y=-0.99127,z=0.01065)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.13148,y=-0.99127,z=0.01065)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.13140,y=-0.99127,z=0.01228)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.13140,y=-0.99127,z=0.01228)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.13128,y=-0.99122,z=0.01451)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.13128,y=-0.99122,z=0.01451)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.13113,y=-0.99123,z=0.01772)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.13113,y=-0.99123,z=0.01772)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.85725,y=-0.51490,z=0.00550)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.85725,y=-0.51490,z=0.00550)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.85730,y=-0.51488,z=0.00591)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.85730,y=-0.51488,z=0.00591)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.85729,y=-0.51482,z=0.00638)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.85729,y=-0.51482,z=0.00638)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.85731,y=-0.51477,z=0.00693)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.85731,y=-0.51477,z=0.00693)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.85734,y=-0.51471,z=0.00759)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.85734,y=-0.51471,z=0.00759)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.85737,y=-0.51463,z=0.00839)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.85737,y=-0.51463,z=0.00839)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.85740,y=-0.51454,z=0.00937)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.85740,y=-0.51454,z=0.00937)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.85746,y=-0.51446,z=0.01061)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.85746,y=-0.51446,z=0.01061)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.85747,y=-0.51432,z=0.01222)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.85747,y=-0.51432,z=0.01222)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.85755,y=-0.51422,z=0.01443)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.85755,y=-0.51422,z=0.01443)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.85759,y=-0.51403,z=0.01759)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.85759,y=-0.51403,z=0.01759)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99688,y=-0.07889,z=0.00346)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99688,y=-0.07889,z=0.00346)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99690,y=-0.07889,z=0.00362)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99690,y=-0.07889,z=0.00362)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99692,y=-0.07888,z=0.00379)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99692,y=-0.07888,z=0.00379)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99688,y=-0.07888,z=0.00398)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99688,y=-0.07888,z=0.00398)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99689,y=-0.07887,z=0.00418)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99689,y=-0.07887,z=0.00418)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99691,y=-0.07887,z=0.00441)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99691,y=-0.07887,z=0.00441)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99690,y=-0.07887,z=0.00467)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99690,y=-0.07887,z=0.00467)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99691,y=-0.07886,z=0.00496)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99691,y=-0.07886,z=0.00496)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99690,y=-0.07885,z=0.00529)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99690,y=-0.07885,z=0.00529)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99690,y=-0.07885,z=0.00566)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99690,y=-0.07885,z=0.00566)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99690,y=-0.07885,z=0.00610)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99690,y=-0.07885,z=0.00610)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99687,y=-0.07884,z=0.00660)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99687,y=-0.07884,z=0.00660)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99687,y=-0.07883,z=0.00719)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99687,y=-0.07883,z=0.00719)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99683,y=-0.07882,z=0.00790)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99683,y=-0.07882,z=0.00790)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99684,y=-0.07881,z=0.00876)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99684,y=-0.07881,z=0.00876)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99685,y=-0.07881,z=0.00984)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99685,y=-0.07881,z=0.00984)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99686,y=-0.07880,z=0.01122)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99686,y=-0.07880,z=0.01122)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99681,y=-0.07879,z=0.01305)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99681,y=-0.07879,z=0.01305)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99680,y=-0.07877,z=0.01559)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99680,y=-0.07877,z=0.01559)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99671,y=-0.07875,z=0.01935)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99671,y=-0.07875,z=0.01935)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.79239,y=0.60993,z=0.01300)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.79239,y=0.60993,z=0.01300)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.79240,y=0.60988,z=0.01552)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.79240,y=0.60988,z=0.01552)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.79234,y=0.60976,z=0.01926)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.79234,y=0.60976,z=0.01926)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.54792,y=0.83651,z=0.00674)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.54792,y=0.83651,z=0.00674)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.54791,y=0.83652,z=0.00736)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.54791,y=0.83652,z=0.00736)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.54790,y=0.83653,z=0.00811)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.54790,y=0.83653,z=0.00811)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.54788,y=0.83648,z=0.00903)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.54788,y=0.83648,z=0.00903)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.54787,y=0.83651,z=0.01017)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.54787,y=0.83651,z=0.01017)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.54785,y=0.83652,z=0.01166)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.54785,y=0.83652,z=0.01166)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.54778,y=0.83648,z=0.01364)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.54778,y=0.83648,z=0.01364)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.54775,y=0.83650,z=0.01645)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.54775,y=0.83650,z=0.01645)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.16542,y=0.98620,z=0.00702)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.16542,y=0.98620,z=0.00702)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.16556,y=0.98619,z=0.00770)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.16556,y=0.98619,z=0.00770)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.16572,y=0.98615,z=0.00852)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.16572,y=0.98615,z=0.00852)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.16591,y=0.98608,z=0.00954)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.16591,y=0.98608,z=0.00954)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.16616,y=0.98603,z=0.01082)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.16616,y=0.98603,z=0.01082)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.16587,y=0.98604,z=0.01252)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.16587,y=0.98604,z=0.01252)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.16621,y=0.98597,z=0.01484)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.16621,y=0.98597,z=0.01484)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.16580,y=0.98598,z=0.01822)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.16580,y=0.98598,z=0.01822)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.52785,y=0.84928,z=0.00925)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.52785,y=0.84928,z=0.00925)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.52783,y=0.84929,z=0.01046)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.52783,y=0.84929,z=0.01046)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.52780,y=0.84930,z=0.01204)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.52780,y=0.84930,z=0.01204)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.52774,y=0.84926,z=0.01417)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.52774,y=0.84926,z=0.01417)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.52768,y=0.84928,z=0.01722)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.52768,y=0.84928,z=0.01722)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.55170,y=0.83405,z=0.00246)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.55170,y=0.83405,z=0.00246)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.55169,y=0.83405,z=0.00254)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.55169,y=0.83405,z=0.00254)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.55170,y=0.83408,z=0.00262)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.55170,y=0.83408,z=0.00262)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.55169,y=0.83408,z=0.00271)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.55169,y=0.83408,z=0.00271)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.55167,y=0.83408,z=0.00281)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.55167,y=0.83408,z=0.00281)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.55167,y=0.83409,z=0.00291)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.55167,y=0.83409,z=0.00291)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.55164,y=0.83407,z=0.00302)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.55164,y=0.83407,z=0.00302)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.55164,y=0.83410,z=0.00314)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.55164,y=0.83410,z=0.00314)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.55163,y=0.83411,z=0.00327)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.55163,y=0.83411,z=0.00327)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.55160,y=0.83410,z=0.00341)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.55160,y=0.83410,z=0.00341)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.55161,y=0.83413,z=0.00356)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.55161,y=0.83413,z=0.00356)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.55156,y=0.83410,z=0.00372)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.55156,y=0.83410,z=0.00372)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.55155,y=0.83412,z=0.00390)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.55155,y=0.83412,z=0.00390)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.55153,y=0.83414,z=0.00411)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.55153,y=0.83414,z=0.00411)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.55153,y=0.83417,z=0.00433)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.55153,y=0.83417,z=0.00433)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.55149,y=0.83417,z=0.00457)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.55149,y=0.83417,z=0.00457)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.55148,y=0.83420,z=0.00485)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.55148,y=0.83420,z=0.00485)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.55143,y=0.83419,z=0.00517)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.55143,y=0.83419,z=0.00517)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.55141,y=0.83421,z=0.00552)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.55141,y=0.83421,z=0.00552)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.55138,y=0.83422,z=0.00593)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.55138,y=0.83422,z=0.00593)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.55136,y=0.83424,z=0.00641)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.55136,y=0.83424,z=0.00641)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.55131,y=0.83425,z=0.00697)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.55131,y=0.83425,z=0.00697)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.55127,y=0.83426,z=0.00763)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.55127,y=0.83426,z=0.00763)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.55127,y=0.83428,z=0.00844)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.55127,y=0.83428,z=0.00844)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.55129,y=0.83424,z=0.00943)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.55129,y=0.83424,z=0.00943)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.55134,y=0.83423,z=0.01069)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.55134,y=0.83423,z=0.01069)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.55137,y=0.83416,z=0.01235)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.55137,y=0.83416,z=0.01235)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.55141,y=0.83406,z=0.01461)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.55141,y=0.83406,z=0.01461)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.55153,y=0.83400,z=0.01788)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.55153,y=0.83400,z=0.01788)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.55512,y=-0.83181,z=0.00315)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.55512,y=-0.83181,z=0.00315)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.55509,y=-0.83181,z=0.00328)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.55509,y=-0.83181,z=0.00328)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.55504,y=-0.83179,z=0.00342)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.55504,y=-0.83179,z=0.00342)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.55503,y=-0.83182,z=0.00358)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.55503,y=-0.83182,z=0.00358)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.55502,y=-0.83187,z=0.00374)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.55502,y=-0.83187,z=0.00374)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.55497,y=-0.83187,z=0.00393)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.55497,y=-0.83187,z=0.00393)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.55495,y=-0.83190,z=0.00413)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.55495,y=-0.83190,z=0.00413)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.55490,y=-0.83192,z=0.00436)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.55490,y=-0.83192,z=0.00436)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.55484,y=-0.83192,z=0.00461)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.55484,y=-0.83192,z=0.00461)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.55481,y=-0.83197,z=0.00489)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.55481,y=-0.83197,z=0.00489)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.55478,y=-0.83205,z=0.00521)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.55478,y=-0.83205,z=0.00521)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.55471,y=-0.83207,z=0.00557)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.55471,y=-0.83207,z=0.00557)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.55462,y=-0.83208,z=0.00599)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.55462,y=-0.83208,z=0.00599)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.55453,y=-0.83212,z=0.00647)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.55453,y=-0.83212,z=0.00647)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.55445,y=-0.83220,z=0.00704)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.55445,y=-0.83220,z=0.00704)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.55434,y=-0.83228,z=0.00772)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.55434,y=-0.83228,z=0.00772)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.55421,y=-0.83234,z=0.00855)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.55421,y=-0.83234,z=0.00855)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.55407,y=-0.83244,z=0.00957)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.55407,y=-0.83244,z=0.00957)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.55387,y=-0.83254,z=0.01087)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.55387,y=-0.83254,z=0.01087)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.55405,y=-0.83240,z=0.01258)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.55405,y=-0.83240,z=0.01258)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.55377,y=-0.83252,z=0.01493)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.55377,y=-0.83252,z=0.01493)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.55403,y=-0.83232,z=0.01835)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.55403,y=-0.83232,z=0.01835)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.83062,y=-0.55679,z=0.00655)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.83062,y=-0.55679,z=0.00655)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.83060,y=-0.55686,z=0.00714)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.83060,y=-0.55686,z=0.00714)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.83052,y=-0.55691,z=0.00784)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.83052,y=-0.55691,z=0.00784)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.83046,y=-0.55699,z=0.00869)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.83046,y=-0.55699,z=0.00869)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.83040,y=-0.55705,z=0.00975)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.83040,y=-0.55705,z=0.00975)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.83037,y=-0.55715,z=0.01111)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.83037,y=-0.55715,z=0.01111)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.83022,y=-0.55722,z=0.01290)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.83022,y=-0.55722,z=0.01290)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.83013,y=-0.55739,z=0.01539)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.83013,y=-0.55739,z=0.01539)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.82991,y=-0.55760,z=0.01906)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.82991,y=-0.55760,z=0.01906)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.56250,y=-0.82678,z=0.00676)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.56250,y=-0.82678,z=0.00676)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.56241,y=-0.82685,z=0.00739)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.56241,y=-0.82685,z=0.00739)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.56229,y=-0.82692,z=0.00814)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.56229,y=-0.82692,z=0.00814)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.56215,y=-0.82701,z=0.00906)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.56215,y=-0.82701,z=0.00906)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.56197,y=-0.82711,z=0.01022)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.56197,y=-0.82711,z=0.01022)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.56216,y=-0.82696,z=0.01171)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.56216,y=-0.82696,z=0.01171)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.56192,y=-0.82711,z=0.01372)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.56192,y=-0.82711,z=0.01372)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.56218,y=-0.82687,z=0.01656)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.56218,y=-0.82687,z=0.01656)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.16325,y=-0.98658,z=0.00707)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.16325,y=-0.98658,z=0.00707)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.16317,y=-0.98655,z=0.00775)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.16317,y=-0.98655,z=0.00775)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.16308,y=-0.98658,z=0.00858)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.16308,y=-0.98658,z=0.00858)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.16297,y=-0.98660,z=0.00962)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.16297,y=-0.98660,z=0.00962)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.16283,y=-0.98662,z=0.01093)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.16283,y=-0.98662,z=0.01093)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.16265,y=-0.98658,z=0.01266)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.16265,y=-0.98658,z=0.01266)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.16239,y=-0.98661,z=0.01504)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.16239,y=-0.98661,z=0.01504)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.16204,y=-0.98667,z=0.01852)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.16204,y=-0.98667,z=0.01852)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.76103,y=-0.64866,z=0.00713)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.76103,y=-0.64866,z=0.00713)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.76108,y=-0.64860,z=0.00783)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.76108,y=-0.64860,z=0.00783)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.76111,y=-0.64855,z=0.00868)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.76111,y=-0.64855,z=0.00868)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.76115,y=-0.64849,z=0.00973)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.76115,y=-0.64849,z=0.00973)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.76122,y=-0.64843,z=0.01108)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.76122,y=-0.64843,z=0.01108)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.76126,y=-0.64830,z=0.01286)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.76126,y=-0.64830,z=0.01286)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.76133,y=-0.64815,z=0.01532)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.76133,y=-0.64815,z=0.01532)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.76144,y=-0.64796,z=0.01894)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.76144,y=-0.64796,z=0.01894)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99748,y=-0.07052,z=0.00270)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99748,y=-0.07052,z=0.00270)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99747,y=-0.07052,z=0.00280)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99747,y=-0.07052,z=0.00280)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99752,y=-0.07052,z=0.00290)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99752,y=-0.07052,z=0.00290)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99751,y=-0.07051,z=0.00300)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99751,y=-0.07051,z=0.00300)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99754,y=-0.07051,z=0.00312)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99754,y=-0.07051,z=0.00312)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99754,y=-0.07050,z=0.00325)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99754,y=-0.07050,z=0.00325)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99752,y=-0.07050,z=0.00339)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99752,y=-0.07050,z=0.00339)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99751,y=-0.07049,z=0.00354)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99751,y=-0.07049,z=0.00354)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99751,y=-0.07049,z=0.00370)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99751,y=-0.07049,z=0.00370)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99751,y=-0.07049,z=0.00388)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99751,y=-0.07049,z=0.00388)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99751,y=-0.07048,z=0.00407)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99751,y=-0.07048,z=0.00407)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99753,y=-0.07047,z=0.00429)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99753,y=-0.07047,z=0.00429)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99751,y=-0.07047,z=0.00454)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99751,y=-0.07047,z=0.00454)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99754,y=-0.07046,z=0.00481)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99754,y=-0.07046,z=0.00481)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99750,y=-0.07045,z=0.00512)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99750,y=-0.07045,z=0.00512)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99753,y=-0.07045,z=0.00546)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99753,y=-0.07045,z=0.00546)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99747,y=-0.07043,z=0.00586)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99747,y=-0.07043,z=0.00586)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99751,y=-0.07043,z=0.00633)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99751,y=-0.07043,z=0.00633)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99749,y=-0.07042,z=0.00687)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99749,y=-0.07042,z=0.00687)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99748,y=-0.07041,z=0.00751)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99748,y=-0.07041,z=0.00751)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99748,y=-0.07040,z=0.00829)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99748,y=-0.07040,z=0.00829)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99746,y=-0.07038,z=0.00925)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99746,y=-0.07038,z=0.00925)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99745,y=-0.07036,z=0.01046)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99745,y=-0.07036,z=0.01046)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99747,y=-0.07035,z=0.01202)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99747,y=-0.07035,z=0.01202)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99745,y=-0.07033,z=0.01415)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99745,y=-0.07033,z=0.01415)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99743,y=-0.07031,z=0.01718)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99743,y=-0.07031,z=0.01718)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.75809,y=0.65200,z=0.01393)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.75809,y=0.65200,z=0.01393)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.75787,y=0.65215,z=0.01688)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.75787,y=0.65215,z=0.01688)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.54782,y=0.83654,z=0.00641)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.54782,y=0.83654,z=0.00641)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.54781,y=0.83656,z=0.00697)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.54781,y=0.83656,z=0.00697)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.54781,y=0.83657,z=0.00764)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.54781,y=0.83657,z=0.00764)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.54779,y=0.83659,z=0.00844)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.54779,y=0.83659,z=0.00844)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.54775,y=0.83658,z=0.00944)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.54775,y=0.83658,z=0.00944)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.54771,y=0.83659,z=0.01070)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.54771,y=0.83659,z=0.01070)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.54767,y=0.83663,z=0.01235)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.54767,y=0.83663,z=0.01235)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.54760,y=0.83659,z=0.01460)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.54760,y=0.83659,z=0.01460)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.54752,y=0.83655,z=0.01786)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.54752,y=0.83655,z=0.01786)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.18866,y=0.98201,z=0.00720)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.18866,y=0.98201,z=0.00720)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.18873,y=0.98200,z=0.00791)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.18873,y=0.98200,z=0.00791)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.18880,y=0.98200,z=0.00878)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.18880,y=0.98200,z=0.00878)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.18889,y=0.98194,z=0.00986)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.18889,y=0.98194,z=0.00986)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.18901,y=0.98188,z=0.01125)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.18901,y=0.98188,z=0.01125)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.18917,y=0.98187,z=0.01309)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.18917,y=0.98187,z=0.01309)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.18939,y=0.98177,z=0.01565)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.18939,y=0.98177,z=0.01565)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.18969,y=0.98161,z=0.01946)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.18969,y=0.98161,z=0.01946)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.54550,y=0.83806,z=0.00950)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.54550,y=0.83806,z=0.00950)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.54564,y=0.83798,z=0.01078)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.54564,y=0.83798,z=0.01078)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.54579,y=0.83782,z=0.01246)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.54579,y=0.83782,z=0.01246)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.54605,y=0.83766,z=0.01476)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.54605,y=0.83766,z=0.01476)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.54570,y=0.83783,z=0.01810)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.54570,y=0.83783,z=0.01810)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.55377,y=0.83262,z=0.00248)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.55377,y=0.83262,z=0.00248)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.55385,y=0.83265,z=0.00256)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.55385,y=0.83265,z=0.00256)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.55388,y=0.83259,z=0.00264)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.55388,y=0.83259,z=0.00264)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.55392,y=0.83257,z=0.00273)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.55392,y=0.83257,z=0.00273)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.55397,y=0.83254,z=0.00283)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.55397,y=0.83254,z=0.00283)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.55401,y=0.83250,z=0.00293)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.55401,y=0.83250,z=0.00293)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.55396,y=0.83254,z=0.00305)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.55396,y=0.83254,z=0.00305)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.55402,y=0.83251,z=0.00317)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.55402,y=0.83251,z=0.00317)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.55406,y=0.83245,z=0.00330)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.55406,y=0.83245,z=0.00330)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.55400,y=0.83250,z=0.00344)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.55400,y=0.83250,z=0.00344)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.55395,y=0.83256,z=0.00359)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.55395,y=0.83256,z=0.00359)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.55400,y=0.83250,z=0.00376)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.55400,y=0.83250,z=0.00376)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.55407,y=0.83247,z=0.00395)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.55407,y=0.83247,z=0.00395)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.55398,y=0.83248,z=0.00415)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.55398,y=0.83248,z=0.00415)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.55392,y=0.83256,z=0.00438)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.55392,y=0.83256,z=0.00438)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.55399,y=0.83251,z=0.00463)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.55399,y=0.83251,z=0.00463)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.55410,y=0.83250,z=0.00492)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.55410,y=0.83250,z=0.00492)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.55400,y=0.83255,z=0.00524)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.55400,y=0.83255,z=0.00524)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.55389,y=0.83260,z=0.00561)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.55389,y=0.83260,z=0.00561)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.55397,y=0.83253,z=0.00603)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.55397,y=0.83253,z=0.00603)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.55406,y=0.83243,z=0.00652)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.55406,y=0.83243,z=0.00652)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.55395,y=0.83253,z=0.00710)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.55395,y=0.83253,z=0.00710)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.55409,y=0.83246,z=0.00779)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.55409,y=0.83246,z=0.00779)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.55388,y=0.83254,z=0.00863)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.55388,y=0.83254,z=0.00863)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.55400,y=0.83245,z=0.00967)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.55400,y=0.83245,z=0.00967)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.55415,y=0.83232,z=0.01099)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.55415,y=0.83232,z=0.01099)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.55393,y=0.83248,z=0.01275)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.55393,y=0.83248,z=0.01275)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.55413,y=0.83233,z=0.01516)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.55413,y=0.83233,z=0.01516)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.55374,y=0.83248,z=0.01871)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.55374,y=0.83248,z=0.01871)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.55477,y=-0.83200,z=0.00313)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.55477,y=-0.83200,z=0.00313)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.55473,y=-0.83201,z=0.00326)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.55473,y=-0.83201,z=0.00326)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.55471,y=-0.83207,z=0.00339)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.55471,y=-0.83207,z=0.00339)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.55465,y=-0.83206,z=0.00355)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.55465,y=-0.83206,z=0.00355)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.55462,y=-0.83211,z=0.00371)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.55462,y=-0.83211,z=0.00371)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.55458,y=-0.83216,z=0.00389)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.55458,y=-0.83216,z=0.00389)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.55452,y=-0.83219,z=0.00409)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.55452,y=-0.83219,z=0.00409)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.55446,y=-0.83222,z=0.00431)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.55446,y=-0.83222,z=0.00431)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.55439,y=-0.83225,z=0.00456)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.55439,y=-0.83225,z=0.00456)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.55431,y=-0.83226,z=0.00483)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.55431,y=-0.83226,z=0.00483)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.55426,y=-0.83235,z=0.00514)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.55426,y=-0.83235,z=0.00514)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.55419,y=-0.83241,z=0.00550)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.55419,y=-0.83241,z=0.00550)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.55409,y=-0.83246,z=0.00590)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.55409,y=-0.83246,z=0.00590)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.55396,y=-0.83250,z=0.00637)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.55396,y=-0.83250,z=0.00637)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.55407,y=-0.83243,z=0.00692)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.55407,y=-0.83243,z=0.00692)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.55395,y=-0.83252,z=0.00758)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.55395,y=-0.83252,z=0.00758)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.55409,y=-0.83244,z=0.00837)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.55409,y=-0.83244,z=0.00837)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.55392,y=-0.83251,z=0.00935)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.55392,y=-0.83251,z=0.00935)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.55408,y=-0.83239,z=0.01058)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.55408,y=-0.83239,z=0.01058)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.55386,y=-0.83250,z=0.01220)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.55386,y=-0.83250,z=0.01220)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.55408,y=-0.83234,z=0.01439)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.55408,y=-0.83234,z=0.01439)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.55375,y=-0.83247,z=0.01755)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.55375,y=-0.83247,z=0.01755)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.82142,y=-0.57027,z=0.00655)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.82142,y=-0.57027,z=0.00655)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.82147,y=-0.57021,z=0.00714)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.82147,y=-0.57021,z=0.00714)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.82152,y=-0.57017,z=0.00784)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.82152,y=-0.57017,z=0.00784)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.82154,y=-0.57009,z=0.00868)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.82154,y=-0.57009,z=0.00868)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.82160,y=-0.57001,z=0.00974)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.82160,y=-0.57001,z=0.00974)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.82165,y=-0.56989,z=0.01109)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.82165,y=-0.56989,z=0.01109)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.82175,y=-0.56975,z=0.01287)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.82175,y=-0.56975,z=0.01287)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.82177,y=-0.56957,z=0.01533)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.82177,y=-0.56957,z=0.01533)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.82188,y=-0.56934,z=0.01896)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.82188,y=-0.56934,z=0.01896)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.56006,y=-0.82840,z=0.00674)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.56006,y=-0.82840,z=0.00674)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.56008,y=-0.82842,z=0.00736)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.56008,y=-0.82842,z=0.00736)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.56008,y=-0.82841,z=0.00811)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.56008,y=-0.82841,z=0.00811)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.56007,y=-0.82838,z=0.00902)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.56007,y=-0.82838,z=0.00902)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.56007,y=-0.82836,z=0.01017)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.56007,y=-0.82836,z=0.01017)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.56009,y=-0.82837,z=0.01164)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.56009,y=-0.82837,z=0.01164)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.56006,y=-0.82831,z=0.01363)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.56006,y=-0.82831,z=0.01363)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.56007,y=-0.82828,z=0.01642)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.56007,y=-0.82828,z=0.01642)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.16134,y=-0.98686,z=0.00705)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.16134,y=-0.98686,z=0.00705)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.16147,y=-0.98687,z=0.00773)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.16147,y=-0.98687,z=0.00773)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.16161,y=-0.98683,z=0.00855)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.16161,y=-0.98683,z=0.00855)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.16180,y=-0.98679,z=0.00957)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.16180,y=-0.98679,z=0.00957)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.16203,y=-0.98672,z=0.01087)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.16203,y=-0.98672,z=0.01087)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.16174,y=-0.98679,z=0.01259)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.16174,y=-0.98679,z=0.01259)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.16205,y=-0.98671,z=0.01494)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.16205,y=-0.98671,z=0.01494)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.16160,y=-0.98669,z=0.01836)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.16160,y=-0.98669,z=0.01836)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.75975,y=-0.65017,z=0.00711)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.75975,y=-0.65017,z=0.00711)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.75974,y=-0.65019,z=0.00781)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.75974,y=-0.65019,z=0.00781)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.75975,y=-0.65020,z=0.00865)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.75975,y=-0.65020,z=0.00865)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.75971,y=-0.65017,z=0.00970)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.75971,y=-0.65017,z=0.00970)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.75968,y=-0.65020,z=0.01104)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.75968,y=-0.65020,z=0.01104)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.75962,y=-0.65023,z=0.01281)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.75962,y=-0.65023,z=0.01281)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.75955,y=-0.65022,z=0.01525)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.75955,y=-0.65022,z=0.01525)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.75952,y=-0.65028,z=0.01885)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.75952,y=-0.65028,z=0.01885)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99425,y=0.10716,z=0.00454)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99425,y=0.10716,z=0.00454)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99422,y=0.10716,z=0.00481)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99422,y=0.10716,z=0.00481)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99423,y=0.10718,z=0.00512)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99423,y=0.10718,z=0.00512)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99425,y=0.10719,z=0.00547)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99425,y=0.10719,z=0.00547)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99424,y=0.10721,z=0.00587)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99424,y=0.10721,z=0.00587)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99422,y=0.10722,z=0.00633)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99422,y=0.10722,z=0.00633)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99422,y=0.10724,z=0.00688)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99422,y=0.10724,z=0.00688)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99420,y=0.10725,z=0.00753)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99420,y=0.10725,z=0.00753)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99419,y=0.10727,z=0.00831)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99419,y=0.10727,z=0.00831)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99420,y=0.10730,z=0.00928)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99420,y=0.10730,z=0.00928)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99418,y=0.10732,z=0.01050)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99418,y=0.10732,z=0.01050)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99414,y=0.10735,z=0.01209)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99414,y=0.10735,z=0.01209)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99416,y=0.10739,z=0.01424)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99416,y=0.10739,z=0.01424)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99402,y=0.10741,z=0.01733)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99402,y=0.10741,z=0.01733)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.97423,y=-0.22566,z=0.00500)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.97423,y=-0.22566,z=0.00500)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.97416,y=-0.22568,z=0.00533)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.97416,y=-0.22568,z=0.00533)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.97420,y=-0.22572,z=0.00571)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.97420,y=-0.22572,z=0.00571)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.97418,y=-0.22574,z=0.00615)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.97418,y=-0.22574,z=0.00615)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.97417,y=-0.22578,z=0.00667)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.97417,y=-0.22578,z=0.00667)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.97415,y=-0.22581,z=0.00728)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.97415,y=-0.22581,z=0.00728)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.97411,y=-0.22585,z=0.00800)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.97411,y=-0.22585,z=0.00800)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.97411,y=-0.22590,z=0.00890)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.97411,y=-0.22590,z=0.00890)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.97407,y=-0.22595,z=0.01001)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.97407,y=-0.22595,z=0.01001)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.97407,y=-0.22601,z=0.01145)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.97407,y=-0.22601,z=0.01145)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.97402,y=-0.22607,z=0.01336)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.97402,y=-0.22607,z=0.01336)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.97393,y=-0.22615,z=0.01605)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.97393,y=-0.22615,z=0.01605)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.95418,y=0.29913,z=0.00772)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.95418,y=0.29913,z=0.00772)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.95418,y=0.29919,z=0.00855)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.95418,y=0.29919,z=0.00855)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.95413,y=0.29925,z=0.00957)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.95413,y=0.29925,z=0.00957)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.95409,y=0.29931,z=0.01088)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.95409,y=0.29931,z=0.01088)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.95403,y=0.29939,z=0.01259)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.95403,y=0.29939,z=0.01259)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.95395,y=0.29948,z=0.01495)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.95395,y=0.29948,z=0.01495)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.95395,y=0.29934,z=0.01838)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.95395,y=0.29934,z=0.01838)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.71468,y=0.69942,z=0.00621)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.71468,y=0.69942,z=0.00621)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.71463,y=0.69947,z=0.00674)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.71463,y=0.69947,z=0.00674)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.71454,y=0.69953,z=0.00736)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.71454,y=0.69953,z=0.00736)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.71449,y=0.69962,z=0.00811)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.71449,y=0.69962,z=0.00811)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.71438,y=0.69968,z=0.00902)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.71438,y=0.69968,z=0.00902)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.71429,y=0.69980,z=0.01017)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.71429,y=0.69980,z=0.01017)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.71412,y=0.69991,z=0.01165)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.71412,y=0.69991,z=0.01165)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.71395,y=0.70004,z=0.01364)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.71395,y=0.70004,z=0.01364)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.71411,y=0.69981,z=0.01644)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.71411,y=0.69981,z=0.01644)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.28964,y=0.95710,z=0.00715)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.28964,y=0.95710,z=0.00715)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.28980,y=0.95708,z=0.00785)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.28980,y=0.95708,z=0.00785)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.28997,y=0.95699,z=0.00871)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.28997,y=0.95699,z=0.00871)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.29018,y=0.95691,z=0.00977)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.29018,y=0.95691,z=0.00977)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.28994,y=0.95697,z=0.01113)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.28994,y=0.95697,z=0.01113)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.29022,y=0.95689,z=0.01293)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.29022,y=0.95689,z=0.01293)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.28988,y=0.95690,z=0.01542)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.28988,y=0.95690,z=0.01542)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.29027,y=0.95675,z=0.01910)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.29027,y=0.95675,z=0.01910)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.84016,y=0.54231,z=0.00615)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.84016,y=0.54231,z=0.00615)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.84017,y=0.54230,z=0.00667)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.84017,y=0.54230,z=0.00667)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.84019,y=0.54229,z=0.00727)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.84019,y=0.54229,z=0.00727)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.84017,y=0.54225,z=0.00800)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.84017,y=0.54225,z=0.00800)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.84019,y=0.54224,z=0.00889)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.84019,y=0.54224,z=0.00889)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.84021,y=0.54222,z=0.01000)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.84021,y=0.54222,z=0.01000)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.84019,y=0.54215,z=0.01142)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.84019,y=0.54215,z=0.01142)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.84017,y=0.54214,z=0.01333)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.84017,y=0.54214,z=0.01333)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.84013,y=0.54213,z=0.01599)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.84013,y=0.54213,z=0.01599)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.84007,y=0.54210,z=0.01998)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.84007,y=0.54210,z=0.01998)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.79885,y=0.60147,z=0.00855)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.79885,y=0.60147,z=0.00855)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.79880,y=0.60152,z=0.00957)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.79880,y=0.60152,z=0.00957)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.79871,y=0.60156,z=0.01087)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.79871,y=0.60156,z=0.01087)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.79867,y=0.60168,z=0.01259)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.79867,y=0.60168,z=0.01259)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.79853,y=0.60178,z=0.01494)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.79853,y=0.60178,z=0.01494)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.79835,y=0.60193,z=0.01837)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.79835,y=0.60193,z=0.01837)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.65463,y=0.75594,z=0.00604)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.65463,y=0.75594,z=0.00604)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.65455,y=0.75598,z=0.00653)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.65455,y=0.75598,z=0.00653)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.65448,y=0.75604,z=0.00711)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.65448,y=0.75604,z=0.00711)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.65438,y=0.75611,z=0.00780)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.65438,y=0.75611,z=0.00780)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.65427,y=0.75619,z=0.00865)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.65427,y=0.75619,z=0.00865)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.65416,y=0.75628,z=0.00970)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.65416,y=0.75628,z=0.00970)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.65401,y=0.75639,z=0.01104)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.65401,y=0.75639,z=0.01104)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.65420,y=0.75624,z=0.01280)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.65420,y=0.75624,z=0.01280)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.65401,y=0.75638,z=0.01524)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.65401,y=0.75638,z=0.01524)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.65367,y=0.75653,z=0.01884)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.65367,y=0.75653,z=0.01884)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.34756,y=0.93763,z=0.00717)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.34756,y=0.93763,z=0.00717)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.34752,y=0.93763,z=0.00788)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.34752,y=0.93763,z=0.00788)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.34748,y=0.93767,z=0.00874)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.34748,y=0.93767,z=0.00874)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.34742,y=0.93768,z=0.00981)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.34742,y=0.93768,z=0.00981)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.34734,y=0.93770,z=0.01119)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.34734,y=0.93770,z=0.01119)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.34721,y=0.93765,z=0.01300)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.34721,y=0.93765,z=0.01300)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.34708,y=0.93773,z=0.01553)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.34708,y=0.93773,z=0.01553)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.34695,y=0.93774,z=0.01928)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.34695,y=0.93774,z=0.01928)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.71392,y=0.70023,z=0.00805)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.71392,y=0.70023,z=0.00805)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.71400,y=0.70012,z=0.00895)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.71400,y=0.70012,z=0.00895)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.71385,y=0.70024,z=0.01008)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.71385,y=0.70024,z=0.01008)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.71395,y=0.70011,z=0.01153)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.71395,y=0.70011,z=0.01153)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.71409,y=0.69994,z=0.01347)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.71409,y=0.69994,z=0.01347)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.71388,y=0.70011,z=0.01621)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.71388,y=0.70011,z=0.01621)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.99651,y=-0.08369,z=0.00538)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.99651,y=-0.08369,z=0.00538)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.99651,y=-0.08367,z=0.00577)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.99651,y=-0.08367,z=0.00577)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.99653,y=-0.08364,z=0.00622)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.99653,y=-0.08364,z=0.00622)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.99650,y=-0.08360,z=0.00674)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.99650,y=-0.08360,z=0.00674)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.99647,y=-0.08356,z=0.00736)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.99647,y=-0.08356,z=0.00736)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.99647,y=-0.08351,z=0.00811)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.99647,y=-0.08351,z=0.00811)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.99648,y=-0.08345,z=0.00902)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.99648,y=-0.08345,z=0.00902)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.99644,y=-0.08338,z=0.01017)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.99644,y=-0.08338,z=0.01017)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.99645,y=-0.08328,z=0.01165)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.99645,y=-0.08328,z=0.01165)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.99646,y=-0.08315,z=0.01363)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.99646,y=-0.08315,z=0.01363)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.99638,y=-0.08296,z=0.01643)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.99638,y=-0.08296,z=0.01643)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.91125,y=0.41176,z=0.00895)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.91125,y=0.41176,z=0.00895)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.91125,y=0.41178,z=0.01008)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.91125,y=0.41178,z=0.01008)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.91119,y=0.41176,z=0.01153)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.91119,y=0.41176,z=0.01153)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.91118,y=0.41178,z=0.01348)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.91118,y=0.41178,z=0.01348)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.91108,y=0.41177,z=0.01621)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.91108,y=0.41177,z=0.01621)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.97052,y=-0.24101,z=0.00810)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.97052,y=-0.24101,z=0.00810)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.97042,y=-0.24114,z=0.00901)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.97042,y=-0.24114,z=0.00901)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.97038,y=-0.24132,z=0.01016)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.97038,y=-0.24132,z=0.01016)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.97031,y=-0.24156,z=0.01164)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.97031,y=-0.24156,z=0.01164)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.97023,y=-0.24188,z=0.01363)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.97023,y=-0.24188,z=0.01363)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.97003,y=-0.24230,z=0.01643)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.97003,y=-0.24230,z=0.01643)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.73728,y=-0.67558,z=0.00605)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.73728,y=-0.67558,z=0.00605)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.73733,y=-0.67550,z=0.00654)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.73733,y=-0.67550,z=0.00654)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.73740,y=-0.67541,z=0.00712)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.73740,y=-0.67541,z=0.00712)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.73750,y=-0.67533,z=0.00782)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.73750,y=-0.67533,z=0.00782)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.73760,y=-0.67519,z=0.00867)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.73760,y=-0.67519,z=0.00867)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.73772,y=-0.67503,z=0.00972)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.73772,y=-0.67503,z=0.00972)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.73788,y=-0.67482,z=0.01106)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.73788,y=-0.67482,z=0.01106)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.73813,y=-0.67458,z=0.01284)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.73813,y=-0.67458,z=0.01284)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.73794,y=-0.67477,z=0.01529)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.73794,y=-0.67477,z=0.01529)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.73804,y=-0.67445,z=0.01890)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.73804,y=-0.67445,z=0.01890)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.33471,y=-0.94232,z=0.00741)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.33471,y=-0.94232,z=0.00741)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.33458,y=-0.94235,z=0.00816)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.33458,y=-0.94235,z=0.00816)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.33444,y=-0.94238,z=0.00909)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.33444,y=-0.94238,z=0.00909)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.33425,y=-0.94242,z=0.01025)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.33425,y=-0.94242,z=0.01025)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.33402,y=-0.94248,z=0.01176)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.33402,y=-0.94248,z=0.01176)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.33370,y=-0.94256,z=0.01379)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.33370,y=-0.94256,z=0.01379)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.33400,y=-0.94245,z=0.01666)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.33400,y=-0.94245,z=0.01666)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.82968,y=-0.55819,z=0.00589)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.82968,y=-0.55819,z=0.00589)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.82972,y=-0.55815,z=0.00636)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.82972,y=-0.55815,z=0.00636)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.82976,y=-0.55809,z=0.00690)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.82976,y=-0.55809,z=0.00690)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.82981,y=-0.55801,z=0.00755)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.82981,y=-0.55801,z=0.00755)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.82985,y=-0.55792,z=0.00834)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.82985,y=-0.55792,z=0.00834)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.82992,y=-0.55781,z=0.00931)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.82992,y=-0.55781,z=0.00931)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.82995,y=-0.55769,z=0.01053)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.82995,y=-0.55769,z=0.01053)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.83005,y=-0.55757,z=0.01213)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.83005,y=-0.55757,z=0.01213)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.82994,y=-0.55773,z=0.01430)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.82994,y=-0.55773,z=0.01430)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.83000,y=-0.55751,z=0.01740)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.83000,y=-0.55751,z=0.01740)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.75967,y=-0.65027,z=0.00866)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.75967,y=-0.65027,z=0.00866)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.75963,y=-0.65026,z=0.00971)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.75963,y=-0.65026,z=0.00971)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.75962,y=-0.65026,z=0.01106)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.75962,y=-0.65026,z=0.01106)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.75961,y=-0.65029,z=0.01283)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.75961,y=-0.65029,z=0.01283)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.75954,y=-0.65027,z=0.01528)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.75954,y=-0.65027,z=0.01528)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.75949,y=-0.65029,z=0.01889)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.75949,y=-0.65029,z=0.01889)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.64181,y=-0.76683,z=0.00607)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.64181,y=-0.76683,z=0.00607)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.64189,y=-0.76675,z=0.00657)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.64189,y=-0.76675,z=0.00657)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.64200,y=-0.76668,z=0.00716)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.64200,y=-0.76668,z=0.00716)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.64211,y=-0.76657,z=0.00786)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.64211,y=-0.76657,z=0.00786)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.64199,y=-0.76669,z=0.00872)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.64199,y=-0.76669,z=0.00872)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.64184,y=-0.76679,z=0.00978)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.64184,y=-0.76679,z=0.00978)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.64196,y=-0.76662,z=0.01115)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.64196,y=-0.76662,z=0.01115)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.64215,y=-0.76644,z=0.01295)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.64215,y=-0.76644,z=0.01295)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.64195,y=-0.76663,z=0.01545)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.64195,y=-0.76663,z=0.01545)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.64217,y=-0.76629,z=0.01914)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.64217,y=-0.76629,z=0.01914)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.35475,y=-0.93492,z=0.00717)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.35475,y=-0.93492,z=0.00717)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.35464,y=-0.93498,z=0.00787)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.35464,y=-0.93498,z=0.00787)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.35451,y=-0.93504,z=0.00873)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.35451,y=-0.93504,z=0.00873)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.35434,y=-0.93506,z=0.00980)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.35434,y=-0.93506,z=0.00980)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.35413,y=-0.93510,z=0.01117)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.35413,y=-0.93510,z=0.01117)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.35387,y=-0.93520,z=0.01299)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.35387,y=-0.93520,z=0.01299)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.35418,y=-0.93505,z=0.01550)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.35418,y=-0.93505,z=0.01550)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.35378,y=-0.93511,z=0.01923)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.35378,y=-0.93511,z=0.01923)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.97469,y=-0.22367,z=0.00605)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.97469,y=-0.22367,z=0.00605)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.97464,y=-0.22368,z=0.00655)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.97464,y=-0.22368,z=0.00655)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.97464,y=-0.22372,z=0.00713)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.97464,y=-0.22372,z=0.00713)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.97462,y=-0.22376,z=0.00783)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.97462,y=-0.22376,z=0.00783)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.97459,y=-0.22380,z=0.00869)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.97459,y=-0.22380,z=0.00869)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.97456,y=-0.22386,z=0.00975)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.97456,y=-0.22386,z=0.00975)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.97458,y=-0.22389,z=0.01110)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.97458,y=-0.22389,z=0.01110)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.97454,y=-0.22391,z=0.01289)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.97454,y=-0.22391,z=0.01289)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.97448,y=-0.22395,z=0.01537)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.97448,y=-0.22395,z=0.01537)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.97441,y=-0.22400,z=0.01903)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.97441,y=-0.22400,z=0.01903)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.95460,y=-0.29785,z=0.00505)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.95460,y=-0.29785,z=0.00505)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.95462,y=-0.29787,z=0.00539)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.95462,y=-0.29787,z=0.00539)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.95461,y=-0.29789,z=0.00578)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.95461,y=-0.29789,z=0.00578)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.95458,y=-0.29792,z=0.00623)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.95458,y=-0.29792,z=0.00623)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.95457,y=-0.29795,z=0.00676)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.95457,y=-0.29795,z=0.00676)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.95454,y=-0.29798,z=0.00739)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.95454,y=-0.29798,z=0.00739)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.95452,y=-0.29802,z=0.00814)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.95452,y=-0.29802,z=0.00814)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.95451,y=-0.29807,z=0.00906)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.95451,y=-0.29807,z=0.00906)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.95447,y=-0.29811,z=0.01022)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.95447,y=-0.29811,z=0.01022)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.95441,y=-0.29817,z=0.01172)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.95441,y=-0.29817,z=0.01172)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.95440,y=-0.29825,z=0.01373)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.95440,y=-0.29825,z=0.01373)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.95432,y=-0.29833,z=0.01658)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.95432,y=-0.29833,z=0.01658)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.95875,y=0.28411,z=0.00795)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.95875,y=0.28411,z=0.00795)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.95872,y=0.28415,z=0.00883)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.95872,y=0.28415,z=0.00883)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.95872,y=0.28419,z=0.00992)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.95872,y=0.28419,z=0.00992)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.95869,y=0.28423,z=0.01133)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.95869,y=0.28423,z=0.01133)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.95867,y=0.28429,z=0.01320)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.95867,y=0.28429,z=0.01320)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.95856,y=0.28434,z=0.01582)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.95856,y=0.28434,z=0.01582)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.95849,y=0.28443,z=0.01972)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.95849,y=0.28443,z=0.01972)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.70942,y=0.70475,z=0.00636)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.70942,y=0.70475,z=0.00636)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.70947,y=0.70467,z=0.00690)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.70947,y=0.70467,z=0.00690)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.70953,y=0.70462,z=0.00756)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.70953,y=0.70462,z=0.00756)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.70964,y=0.70455,z=0.00834)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.70964,y=0.70455,z=0.00834)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.70970,y=0.70443,z=0.00931)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.70970,y=0.70443,z=0.00931)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.70980,y=0.70432,z=0.01054)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.70980,y=0.70432,z=0.01054)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.70991,y=0.70414,z=0.01213)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.70991,y=0.70414,z=0.01213)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.71004,y=0.70397,z=0.01430)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.71004,y=0.70397,z=0.01430)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.70981,y=0.70415,z=0.01742)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.70981,y=0.70415,z=0.01742)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.31118,y=0.95033,z=0.00722)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.31118,y=0.95033,z=0.00722)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.31111,y=0.95037,z=0.00794)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.31111,y=0.95037,z=0.00794)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.31101,y=0.95036,z=0.00881)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.31101,y=0.95036,z=0.00881)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.31090,y=0.95039,z=0.00990)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.31090,y=0.95039,z=0.00990)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.31075,y=0.95039,z=0.01130)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.31075,y=0.95039,z=0.01130)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.31057,y=0.95045,z=0.01316)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.31057,y=0.95045,z=0.01316)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.31031,y=0.95054,z=0.01575)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.31031,y=0.95054,z=0.01575)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.30989,y=0.95057,z=0.01961)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.30989,y=0.95057,z=0.01961)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.84523,y=0.53439,z=0.00617)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.84523,y=0.53439,z=0.00617)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.84526,y=0.53434,z=0.00669)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.84526,y=0.53434,z=0.00669)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.84529,y=0.53428,z=0.00730)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.84529,y=0.53428,z=0.00730)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.84531,y=0.53420,z=0.00803)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.84531,y=0.53420,z=0.00803)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.84534,y=0.53415,z=0.00892)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.84534,y=0.53415,z=0.00892)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.84538,y=0.53409,z=0.01004)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.84538,y=0.53409,z=0.01004)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.84543,y=0.53400,z=0.01148)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.84543,y=0.53400,z=0.01148)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.84550,y=0.53390,z=0.01340)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.84550,y=0.53390,z=0.01340)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.84554,y=0.53371,z=0.01609)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.84554,y=0.53371,z=0.01609)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.73530,y=0.67771,z=0.00886)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.73530,y=0.67771,z=0.00886)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.73524,y=0.67776,z=0.00996)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.73524,y=0.67776,z=0.00996)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.73514,y=0.67778,z=0.01138)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.73514,y=0.67778,z=0.01138)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.73504,y=0.67785,z=0.01327)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.73504,y=0.67785,z=0.01327)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.73497,y=0.67794,z=0.01591)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.73497,y=0.67794,z=0.01591)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.73478,y=0.67799,z=0.01986)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.73478,y=0.67799,z=0.01986)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.63317,y=0.77400,z=0.00616)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.63317,y=0.77400,z=0.00616)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.63321,y=0.77393,z=0.00667)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.63321,y=0.77393,z=0.00667)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.63327,y=0.77387,z=0.00728)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.63327,y=0.77387,z=0.00728)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.63335,y=0.77380,z=0.00801)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.63335,y=0.77380,z=0.00801)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.63345,y=0.77375,z=0.00890)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.63345,y=0.77375,z=0.00890)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.63354,y=0.77366,z=0.01001)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.63354,y=0.77366,z=0.01001)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.63365,y=0.77354,z=0.01144)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.63365,y=0.77354,z=0.01144)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.63380,y=0.77337,z=0.01334)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.63380,y=0.77337,z=0.01334)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.63400,y=0.77321,z=0.01601)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.63400,y=0.77321,z=0.01601)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.29813,y=0.95450,z=0.00689)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.29813,y=0.95450,z=0.00689)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.29796,y=0.95453,z=0.00753)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.29796,y=0.95453,z=0.00753)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.29814,y=0.95447,z=0.00832)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.29814,y=0.95447,z=0.00832)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.29794,y=0.95452,z=0.00928)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.29794,y=0.95452,z=0.00928)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.29816,y=0.95443,z=0.01050)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.29816,y=0.95443,z=0.01050)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.29791,y=0.95450,z=0.01209)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.29791,y=0.95450,z=0.01209)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.29820,y=0.95438,z=0.01423)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.29820,y=0.95438,z=0.01423)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.29784,y=0.95446,z=0.01732)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.29784,y=0.95446,z=0.01732)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.68855,y=0.72511,z=0.00778)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.68855,y=0.72511,z=0.00778)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.68853,y=0.72515,z=0.00862)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.68853,y=0.72515,z=0.00862)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.68849,y=0.72518,z=0.00966)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.68849,y=0.72518,z=0.00966)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.68845,y=0.72523,z=0.01098)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.68845,y=0.72523,z=0.01098)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.68838,y=0.72528,z=0.01272)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.68838,y=0.72528,z=0.01272)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.68825,y=0.72531,z=0.01513)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.68825,y=0.72531,z=0.01513)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.68811,y=0.72541,z=0.01865)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.68811,y=0.72541,z=0.01865)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.99370,y=-0.11230,z=0.00557)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.99370,y=-0.11230,z=0.00557)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.99364,y=-0.11230,z=0.00599)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.99364,y=-0.11230,z=0.00599)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.99367,y=-0.11231,z=0.00647)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.99367,y=-0.11231,z=0.00647)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.99363,y=-0.11232,z=0.00704)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.99363,y=-0.11232,z=0.00704)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.99364,y=-0.11233,z=0.00772)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.99364,y=-0.11233,z=0.00772)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.99364,y=-0.11235,z=0.00854)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.99364,y=-0.11235,z=0.00854)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.99364,y=-0.11237,z=0.00956)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.99364,y=-0.11237,z=0.00956)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.99360,y=-0.11239,z=0.01086)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.99360,y=-0.11239,z=0.01086)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.99359,y=-0.11242,z=0.01256)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.99359,y=-0.11242,z=0.01256)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.99352,y=-0.11246,z=0.01490)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.99352,y=-0.11246,z=0.01490)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.99351,y=-0.11252,z=0.01830)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.99351,y=-0.11252,z=0.01830)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.92244,y=0.38613,z=0.00853)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.92244,y=0.38613,z=0.00853)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.92246,y=0.38599,z=0.00955)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.92246,y=0.38599,z=0.00955)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.92230,y=0.38628,z=0.01085)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.92230,y=0.38628,z=0.01085)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.92233,y=0.38613,z=0.01256)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.92233,y=0.38613,z=0.01256)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.92243,y=0.38596,z=0.01490)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.92243,y=0.38596,z=0.01490)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.92216,y=0.38645,z=0.01832)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.92216,y=0.38645,z=0.01832)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.95867,y=-0.28432,z=0.00842)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.95867,y=-0.28432,z=0.00842)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.95865,y=-0.28439,z=0.00942)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.95865,y=-0.28439,z=0.00942)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.95863,y=-0.28449,z=0.01068)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.95863,y=-0.28449,z=0.01068)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.95860,y=-0.28462,z=0.01232)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.95860,y=-0.28462,z=0.01232)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.95848,y=-0.28478,z=0.01457)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.95848,y=-0.28478,z=0.01457)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.95832,y=-0.28500,z=0.01781)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.95832,y=-0.28500,z=0.01781)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.72038,y=-0.69355,z=0.00617)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.72038,y=-0.69355,z=0.00617)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.72032,y=-0.69359,z=0.00668)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.72032,y=-0.69359,z=0.00668)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.72027,y=-0.69366,z=0.00729)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.72027,y=-0.69366,z=0.00729)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.72018,y=-0.69371,z=0.00802)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.72018,y=-0.69371,z=0.00802)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.72011,y=-0.69381,z=0.00891)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.72011,y=-0.69381,z=0.00891)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.71998,y=-0.69391,z=0.01003)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.71998,y=-0.69391,z=0.01003)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.71985,y=-0.69406,z=0.01146)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.71985,y=-0.69406,z=0.01146)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.71997,y=-0.69388,z=0.01338)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.71997,y=-0.69388,z=0.01338)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.71997,y=-0.69386,z=0.01607)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.71997,y=-0.69386,z=0.01607)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.27980,y=-0.96003,z=0.00714)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.27980,y=-0.96003,z=0.00714)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.27978,y=-0.96003,z=0.00784)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.27978,y=-0.96003,z=0.00784)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.27975,y=-0.96002,z=0.00869)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.27975,y=-0.96002,z=0.00869)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.27973,y=-0.96004,z=0.00975)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.27973,y=-0.96004,z=0.00975)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.27969,y=-0.96005,z=0.01110)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.27969,y=-0.96005,z=0.01110)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.27962,y=-0.95999,z=0.01289)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.27962,y=-0.95999,z=0.01289)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.27955,y=-0.95999,z=0.01536)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.27955,y=-0.95999,z=0.01536)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.27944,y=-0.95998,z=0.01901)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.27944,y=-0.95998,z=0.01901)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.83853,y=-0.54486,z=0.00616)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.83853,y=-0.54486,z=0.00616)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.83847,y=-0.54490,z=0.00667)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.83847,y=-0.54490,z=0.00667)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.83843,y=-0.54498,z=0.00728)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.83843,y=-0.54498,z=0.00728)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.83837,y=-0.54506,z=0.00801)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.83837,y=-0.54506,z=0.00801)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.83830,y=-0.54512,z=0.00890)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.83830,y=-0.54512,z=0.00890)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.83826,y=-0.54522,z=0.01001)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.83826,y=-0.54522,z=0.01001)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.83815,y=-0.54532,z=0.01145)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.83815,y=-0.54532,z=0.01145)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.83801,y=-0.54544,z=0.01337)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.83801,y=-0.54544,z=0.01337)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.83788,y=-0.54559,z=0.01605)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.83788,y=-0.54559,z=0.01605)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.73335,y=-0.67979,z=0.00881)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.73335,y=-0.67979,z=0.00881)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.73344,y=-0.67970,z=0.00990)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.73344,y=-0.67970,z=0.00990)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.73352,y=-0.67959,z=0.01129)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.73352,y=-0.67959,z=0.01129)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.73364,y=-0.67947,z=0.01315)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.73364,y=-0.67947,z=0.01315)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.73372,y=-0.67922,z=0.01573)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.73372,y=-0.67922,z=0.01573)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.73385,y=-0.67896,z=0.01957)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.73385,y=-0.67896,z=0.01957)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.63356,y=-0.77369,z=0.00613)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.63356,y=-0.77369,z=0.00613)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.63362,y=-0.77362,z=0.00664)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.63362,y=-0.77362,z=0.00664)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.63370,y=-0.77355,z=0.00724)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.63370,y=-0.77355,z=0.00724)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.63381,y=-0.77346,z=0.00796)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.63381,y=-0.77346,z=0.00796)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.63391,y=-0.77333,z=0.00884)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.63391,y=-0.77333,z=0.00884)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.63406,y=-0.77323,z=0.00993)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.63406,y=-0.77323,z=0.00993)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.63389,y=-0.77337,z=0.01134)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.63389,y=-0.77337,z=0.01134)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.63404,y=-0.77320,z=0.01321)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.63404,y=-0.77320,z=0.01321)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.63380,y=-0.77338,z=0.01582)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.63380,y=-0.77338,z=0.01582)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.63400,y=-0.77312,z=0.01972)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.63400,y=-0.77312,z=0.01972)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.36507,y=-0.93093,z=0.00719)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.36507,y=-0.93093,z=0.00719)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.36516,y=-0.93091,z=0.00790)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.36516,y=-0.93091,z=0.00790)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.36526,y=-0.93084,z=0.00876)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.36526,y=-0.93084,z=0.00876)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.36540,y=-0.93081,z=0.00984)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.36540,y=-0.93081,z=0.00984)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.36555,y=-0.93070,z=0.01121)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.36555,y=-0.93070,z=0.01121)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.36578,y=-0.93063,z=0.01304)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.36578,y=-0.93063,z=0.01304)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.36607,y=-0.93045,z=0.01558)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.36607,y=-0.93045,z=0.01558)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.36564,y=-0.93055,z=0.01935)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.36564,y=-0.93055,z=0.01935)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.97521,y=-0.22139,z=0.00607)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.97521,y=-0.22139,z=0.00607)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.97517,y=-0.22141,z=0.00657)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.97517,y=-0.22141,z=0.00657)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.97517,y=-0.22141,z=0.00716)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.97517,y=-0.22141,z=0.00716)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.97516,y=-0.22141,z=0.00786)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.97516,y=-0.22141,z=0.00786)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.97515,y=-0.22140,z=0.00872)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.97515,y=-0.22140,z=0.00872)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.97514,y=-0.22145,z=0.00979)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.97514,y=-0.22145,z=0.00979)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.97508,y=-0.22144,z=0.01115)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.97508,y=-0.22144,z=0.01115)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.97512,y=-0.22146,z=0.01296)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.97512,y=-0.22146,z=0.01296)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.97503,y=-0.22145,z=0.01546)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.97503,y=-0.22145,z=0.01546)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.97498,y=-0.22146,z=0.01917)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.97498,y=-0.22146,z=0.01917)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.95472,y=-0.29747,z=0.00506)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.95472,y=-0.29747,z=0.00506)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.95471,y=-0.29749,z=0.00540)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.95471,y=-0.29749,z=0.00540)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.95473,y=-0.29752,z=0.00579)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.95473,y=-0.29752,z=0.00579)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.95472,y=-0.29755,z=0.00625)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.95472,y=-0.29755,z=0.00625)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.95468,y=-0.29756,z=0.00678)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.95468,y=-0.29756,z=0.00678)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.95468,y=-0.29760,z=0.00741)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.95468,y=-0.29760,z=0.00741)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.95466,y=-0.29764,z=0.00816)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.95466,y=-0.29764,z=0.00816)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.95464,y=-0.29768,z=0.00909)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.95464,y=-0.29768,z=0.00909)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.95460,y=-0.29772,z=0.01026)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.95460,y=-0.29772,z=0.01026)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.95456,y=-0.29777,z=0.01177)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.95456,y=-0.29777,z=0.01177)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.95452,y=-0.29784,z=0.01380)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.95452,y=-0.29784,z=0.01380)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.95445,y=-0.29792,z=0.01669)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.95445,y=-0.29792,z=0.01669)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.95825,y=0.28584,z=0.00797)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.95825,y=0.28584,z=0.00797)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.95823,y=0.28589,z=0.00885)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.95823,y=0.28589,z=0.00885)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.95819,y=0.28595,z=0.00996)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.95819,y=0.28595,z=0.00996)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.95814,y=0.28601,z=0.01137)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.95814,y=0.28601,z=0.01137)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.95809,y=0.28609,z=0.01326)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.95809,y=0.28609,z=0.01326)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.95802,y=0.28618,z=0.01590)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.95802,y=0.28618,z=0.01590)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.95805,y=0.28605,z=0.01983)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.95805,y=0.28605,z=0.01983)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.70854,y=0.70564,z=0.00637)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.70854,y=0.70564,z=0.00637)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.70856,y=0.70563,z=0.00692)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.70856,y=0.70563,z=0.00692)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.70859,y=0.70560,z=0.00757)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.70859,y=0.70560,z=0.00757)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.70861,y=0.70556,z=0.00836)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.70861,y=0.70556,z=0.00836)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.70865,y=0.70552,z=0.00934)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.70865,y=0.70552,z=0.00934)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.70866,y=0.70544,z=0.01057)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.70866,y=0.70544,z=0.01057)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.70872,y=0.70538,z=0.01218)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.70872,y=0.70538,z=0.01218)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.70874,y=0.70530,z=0.01436)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.70874,y=0.70530,z=0.01436)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.70878,y=0.70519,z=0.01750)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.70878,y=0.70519,z=0.01750)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.31312,y=0.94968,z=0.00722)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.31312,y=0.94968,z=0.00722)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.31322,y=0.94966,z=0.00794)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.31322,y=0.94966,z=0.00794)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.31332,y=0.94958,z=0.00881)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.31332,y=0.94958,z=0.00881)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.31347,y=0.94953,z=0.00990)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.31347,y=0.94953,z=0.00990)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.31366,y=0.94947,z=0.01130)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.31366,y=0.94947,z=0.01130)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.31392,y=0.94939,z=0.01316)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.31392,y=0.94939,z=0.01316)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.31425,y=0.94920,z=0.01575)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.31425,y=0.94920,z=0.01575)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.31385,y=0.94930,z=0.01962)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.31385,y=0.94930,z=0.01962)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.84563,y=0.53372,z=0.00617)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.84563,y=0.53372,z=0.00617)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.84566,y=0.53366,z=0.00668)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.84566,y=0.53366,z=0.00668)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.84569,y=0.53358,z=0.00729)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.84569,y=0.53358,z=0.00729)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.84573,y=0.53350,z=0.00802)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.84573,y=0.53350,z=0.00802)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.84581,y=0.53342,z=0.00891)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.84581,y=0.53342,z=0.00891)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.84586,y=0.53329,z=0.01003)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.84586,y=0.53329,z=0.01003)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.84594,y=0.53318,z=0.01146)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.84594,y=0.53318,z=0.01146)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.84598,y=0.53300,z=0.01337)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.84598,y=0.53300,z=0.01337)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.84605,y=0.53283,z=0.01605)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.84605,y=0.53283,z=0.01605)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.73473,y=0.67827,z=0.00886)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.73473,y=0.67827,z=0.00886)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.73469,y=0.67836,z=0.00997)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.73469,y=0.67836,z=0.00997)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.73458,y=0.67843,z=0.01139)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.73458,y=0.67843,z=0.01139)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.73444,y=0.67853,z=0.01328)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.73444,y=0.67853,z=0.01328)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.73425,y=0.67867,z=0.01593)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.73425,y=0.67867,z=0.01593)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.73404,y=0.67883,z=0.01989)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.73404,y=0.67883,z=0.01989)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.63288,y=0.77424,z=0.00616)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.63288,y=0.77424,z=0.00616)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.63292,y=0.77420,z=0.00668)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.63292,y=0.77420,z=0.00668)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.63296,y=0.77412,z=0.00728)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.63296,y=0.77412,z=0.00728)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.63301,y=0.77408,z=0.00801)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.63301,y=0.77408,z=0.00801)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.63307,y=0.77402,z=0.00890)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.63307,y=0.77402,z=0.00890)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.63318,y=0.77399,z=0.01002)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.63318,y=0.77399,z=0.01002)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.63326,y=0.77389,z=0.01145)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.63326,y=0.77389,z=0.01145)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.63335,y=0.77372,z=0.01336)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.63335,y=0.77372,z=0.01336)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.63347,y=0.77355,z=0.01604)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.63347,y=0.77355,z=0.01604)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.29889,y=0.95427,z=0.00689)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.29889,y=0.95427,z=0.00689)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.29879,y=0.95430,z=0.00754)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.29879,y=0.95430,z=0.00754)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.29868,y=0.95432,z=0.00832)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.29868,y=0.95432,z=0.00832)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.29854,y=0.95437,z=0.00929)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.29854,y=0.95437,z=0.00929)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.29836,y=0.95440,z=0.01051)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.29836,y=0.95440,z=0.01051)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.29814,y=0.95446,z=0.01209)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.29814,y=0.95446,z=0.01209)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.29782,y=0.95454,z=0.01425)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.29782,y=0.95454,z=0.01425)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.29817,y=0.95441,z=0.01734)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.29817,y=0.95441,z=0.01734)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.68876,y=0.72497,z=0.00779)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.68876,y=0.72497,z=0.00779)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.68875,y=0.72498,z=0.00863)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.68875,y=0.72498,z=0.00863)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.68870,y=0.72495,z=0.00967)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.68870,y=0.72495,z=0.00967)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.68869,y=0.72496,z=0.01099)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.68869,y=0.72496,z=0.01099)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.68866,y=0.72497,z=0.01274)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.68866,y=0.72497,z=0.01274)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.68864,y=0.72500,z=0.01515)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.68864,y=0.72500,z=0.01515)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.68853,y=0.72496,z=0.01869)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.68853,y=0.72496,z=0.01869)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.99360,y=-0.11288,z=0.00557)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.99360,y=-0.11288,z=0.00557)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.99361,y=-0.11293,z=0.00599)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.99361,y=-0.11293,z=0.00599)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.99356,y=-0.11299,z=0.00647)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.99356,y=-0.11299,z=0.00647)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.99356,y=-0.11306,z=0.00704)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.99356,y=-0.11306,z=0.00704)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.99356,y=-0.11314,z=0.00772)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.99356,y=-0.11314,z=0.00772)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.99354,y=-0.11324,z=0.00855)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.99354,y=-0.11324,z=0.00855)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.99349,y=-0.11336,z=0.00957)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.99349,y=-0.11336,z=0.00957)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.99348,y=-0.11352,z=0.01086)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.99348,y=-0.11352,z=0.01086)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.99341,y=-0.11373,z=0.01257)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.99341,y=-0.11373,z=0.01257)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.99336,y=-0.11402,z=0.01490)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.99336,y=-0.11402,z=0.01490)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.99340,y=-0.11353,z=0.01831)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.99340,y=-0.11353,z=0.01831)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.92263,y=0.38560,z=0.00853)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.92263,y=0.38560,z=0.00853)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.92251,y=0.38581,z=0.00955)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.92251,y=0.38581,z=0.00955)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.92240,y=0.38610,z=0.01085)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.92240,y=0.38610,z=0.01085)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.92244,y=0.38592,z=0.01255)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.92244,y=0.38592,z=0.01255)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.92221,y=0.38630,z=0.01489)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.92221,y=0.38630,z=0.01489)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.92223,y=0.38609,z=0.01830)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.92223,y=0.38609,z=0.01830)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.95873,y=-0.28421,z=0.00842)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.95873,y=-0.28421,z=0.00842)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.95867,y=-0.28426,z=0.00941)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.95867,y=-0.28426,z=0.00941)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.95866,y=-0.28434,z=0.01067)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.95866,y=-0.28434,z=0.01067)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.95863,y=-0.28445,z=0.01231)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.95863,y=-0.28445,z=0.01231)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.95851,y=-0.28457,z=0.01456)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.95851,y=-0.28457,z=0.01456)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.95844,y=-0.28477,z=0.01780)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.95844,y=-0.28477,z=0.01780)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.72052,y=-0.69339,z=0.00617)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.72052,y=-0.69339,z=0.00617)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.72048,y=-0.69343,z=0.00668)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.72048,y=-0.69343,z=0.00668)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.72046,y=-0.69349,z=0.00729)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.72046,y=-0.69349,z=0.00729)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.72038,y=-0.69352,z=0.00802)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.72038,y=-0.69352,z=0.00802)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.72032,y=-0.69360,z=0.00891)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.72032,y=-0.69360,z=0.00891)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.72022,y=-0.69366,z=0.01002)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.72022,y=-0.69366,z=0.01002)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.72014,y=-0.69378,z=0.01146)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.72014,y=-0.69378,z=0.01146)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.71996,y=-0.69389,z=0.01337)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.71996,y=-0.69389,z=0.01337)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.71991,y=-0.69382,z=0.01605)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.71991,y=-0.69382,z=0.01605)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.27937,y=-0.96015,z=0.00714)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.27937,y=-0.96015,z=0.00714)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.27931,y=-0.96015,z=0.00783)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.27931,y=-0.96015,z=0.00783)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.27924,y=-0.96017,z=0.00869)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.27924,y=-0.96017,z=0.00869)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.27914,y=-0.96019,z=0.00974)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.27914,y=-0.96019,z=0.00974)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.27902,y=-0.96022,z=0.01109)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.27902,y=-0.96022,z=0.01109)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.27889,y=-0.96026,z=0.01288)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.27889,y=-0.96026,z=0.01288)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.27868,y=-0.96024,z=0.01535)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.27868,y=-0.96024,z=0.01535)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.27839,y=-0.96029,z=0.01900)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.27839,y=-0.96029,z=0.01900)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.83833,y=-0.54511,z=0.00616)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.83833,y=-0.54511,z=0.00616)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.83831,y=-0.54519,z=0.00667)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.83831,y=-0.54519,z=0.00667)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.83825,y=-0.54524,z=0.00728)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.83825,y=-0.54524,z=0.00728)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.83820,y=-0.54533,z=0.00801)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.83820,y=-0.54533,z=0.00801)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.83812,y=-0.54543,z=0.00890)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.83812,y=-0.54543,z=0.00890)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.83806,y=-0.54551,z=0.01002)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.83806,y=-0.54551,z=0.01002)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.83796,y=-0.54562,z=0.01145)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.83796,y=-0.54562,z=0.01145)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.83801,y=-0.54544,z=0.01337)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.83801,y=-0.54544,z=0.01337)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.83788,y=-0.54559,z=0.01605)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.83788,y=-0.54559,z=0.01605)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.73335,y=-0.67979,z=0.00881)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.73335,y=-0.67979,z=0.00881)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.73344,y=-0.67970,z=0.00990)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.73344,y=-0.67970,z=0.00990)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.73352,y=-0.67959,z=0.01129)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.73352,y=-0.67959,z=0.01129)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.73364,y=-0.67947,z=0.01315)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.73364,y=-0.67947,z=0.01315)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.73372,y=-0.67922,z=0.01573)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.73372,y=-0.67922,z=0.01573)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.73385,y=-0.67896,z=0.01957)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.73385,y=-0.67896,z=0.01957)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.63356,y=-0.77369,z=0.00613)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.63356,y=-0.77369,z=0.00613)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.63362,y=-0.77362,z=0.00664)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.63362,y=-0.77362,z=0.00664)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.63370,y=-0.77355,z=0.00724)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.63370,y=-0.77355,z=0.00724)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.63381,y=-0.77346,z=0.00796)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.63381,y=-0.77346,z=0.00796)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.63391,y=-0.77333,z=0.00884)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.63391,y=-0.77333,z=0.00884)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.63406,y=-0.77323,z=0.00993)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.63406,y=-0.77323,z=0.00993)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.63389,y=-0.77337,z=0.01134)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.63389,y=-0.77337,z=0.01134)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.63404,y=-0.77320,z=0.01321)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.63404,y=-0.77320,z=0.01321)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.63380,y=-0.77338,z=0.01582)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.63380,y=-0.77338,z=0.01582)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.63400,y=-0.77312,z=0.01972)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.63400,y=-0.77312,z=0.01972)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.36507,y=-0.93093,z=0.00719)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.36507,y=-0.93093,z=0.00719)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.36516,y=-0.93091,z=0.00790)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.36516,y=-0.93091,z=0.00790)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.36526,y=-0.93084,z=0.00876)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.36526,y=-0.93084,z=0.00876)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.36540,y=-0.93081,z=0.00984)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.36540,y=-0.93081,z=0.00984)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.36555,y=-0.93070,z=0.01121)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.36555,y=-0.93070,z=0.01121)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.36578,y=-0.93063,z=0.01304)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.36578,y=-0.93063,z=0.01304)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.36607,y=-0.93045,z=0.01558)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.36607,y=-0.93045,z=0.01558)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.36564,y=-0.93055,z=0.01935)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.36564,y=-0.93055,z=0.01935)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.88055,y=-0.47396,z=0.00548)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.88055,y=-0.47396,z=0.00548)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.88054,y=-0.47393,z=0.00588)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.88054,y=-0.47393,z=0.00588)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.88054,y=-0.47390,z=0.00635)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.88054,y=-0.47390,z=0.00635)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.88056,y=-0.47387,z=0.00690)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.88056,y=-0.47387,z=0.00690)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.88057,y=-0.47384,z=0.00755)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.88057,y=-0.47384,z=0.00755)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.88059,y=-0.47380,z=0.00834)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.88059,y=-0.47380,z=0.00834)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.88062,y=-0.47376,z=0.00930)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.88062,y=-0.47376,z=0.00930)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.88062,y=-0.47371,z=0.01053)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.88062,y=-0.47371,z=0.01053)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.88061,y=-0.47365,z=0.01212)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.88061,y=-0.47365,z=0.01212)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.88065,y=-0.47362,z=0.01429)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.88065,y=-0.47362,z=0.01429)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.88064,y=-0.47355,z=0.01739)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.88064,y=-0.47355,z=0.01739)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.06836,y=0.99767,z=0.00172)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.06836,y=0.99767,z=0.00172)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.06837,y=0.99771,z=0.00176)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.06837,y=0.99771,z=0.00176)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.06837,y=0.99766,z=0.00180)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.06837,y=0.99766,z=0.00180)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.06839,y=0.99770,z=0.00184)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.06839,y=0.99770,z=0.00184)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.06839,y=0.99764,z=0.00189)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.06839,y=0.99764,z=0.00189)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.06840,y=0.99768,z=0.00193)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.06840,y=0.99768,z=0.00193)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.06841,y=0.99762,z=0.00198)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.06841,y=0.99762,z=0.00198)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.06842,y=0.99762,z=0.00203)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.06842,y=0.99762,z=0.00203)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.06843,y=0.99769,z=0.00208)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.06843,y=0.99769,z=0.00208)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.06844,y=0.99764,z=0.00214)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.06844,y=0.99764,z=0.00214)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.06846,y=0.99767,z=0.00220)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.06846,y=0.99767,z=0.00220)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.06847,y=0.99764,z=0.00226)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.06847,y=0.99764,z=0.00226)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.06848,y=0.99769,z=0.00233)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.06848,y=0.99769,z=0.00233)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.06850,y=0.99769,z=0.00239)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.06850,y=0.99769,z=0.00239)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.06851,y=0.99764,z=0.00247)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.06851,y=0.99764,z=0.00247)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.06853,y=0.99764,z=0.00255)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.06853,y=0.99764,z=0.00255)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.06854,y=0.99765,z=0.00263)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.06854,y=0.99765,z=0.00263)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.06856,y=0.99762,z=0.00272)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.06856,y=0.99762,z=0.00272)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.06858,y=0.99763,z=0.00282)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.06858,y=0.99763,z=0.00282)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.06860,y=0.99764,z=0.00292)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.06860,y=0.99764,z=0.00292)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.06863,y=0.99765,z=0.00303)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.06863,y=0.99765,z=0.00303)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.06865,y=0.99763,z=0.00315)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.06865,y=0.99763,z=0.00315)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.06867,y=0.99763,z=0.00328)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.06867,y=0.99763,z=0.00328)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.06871,y=0.99767,z=0.00342)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.06871,y=0.99767,z=0.00342)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.06873,y=0.99763,z=0.00357)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.06873,y=0.99763,z=0.00357)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.06877,y=0.99762,z=0.00374)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.06877,y=0.99762,z=0.00374)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.06881,y=0.99764,z=0.00392)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.06881,y=0.99764,z=0.00392)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.06885,y=0.99763,z=0.00412)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.06885,y=0.99763,z=0.00412)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.06889,y=0.99763,z=0.00435)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.06889,y=0.99763,z=0.00435)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.06895,y=0.99765,z=0.00460)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.06895,y=0.99765,z=0.00460)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.06900,y=0.99765,z=0.00488)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.06900,y=0.99765,z=0.00488)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.06906,y=0.99759,z=0.00519)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.06906,y=0.99759,z=0.00519)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.06914,y=0.99761,z=0.00555)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.06914,y=0.99761,z=0.00555)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.06922,y=0.99760,z=0.00597)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.06922,y=0.99760,z=0.00597)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.06932,y=0.99757,z=0.00645)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.06932,y=0.99757,z=0.00645)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.06944,y=0.99757,z=0.00701)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.06944,y=0.99757,z=0.00701)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.06957,y=0.99754,z=0.00769)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.06957,y=0.99754,z=0.00769)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.06974,y=0.99753,z=0.00850)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.06974,y=0.99753,z=0.00850)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.06995,y=0.99753,z=0.00952)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.06995,y=0.99753,z=0.00952)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.07021,y=0.99745,z=0.01080)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.07021,y=0.99745,z=0.01080)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.06991,y=0.99750,z=0.01248)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.06991,y=0.99750,z=0.01248)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.07024,y=0.99741,z=0.01479)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.07024,y=0.99741,z=0.01479)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.06982,y=0.99737,z=0.01813)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.06982,y=0.99737,z=0.01813)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99346,y=0.11396,z=0.00649)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99346,y=0.11396,z=0.00649)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99345,y=0.11411,z=0.00707)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99345,y=0.11411,z=0.00707)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99345,y=0.11391,z=0.00775)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99345,y=0.11391,z=0.00775)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99345,y=0.11410,z=0.00858)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99345,y=0.11410,z=0.00858)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99347,y=0.11385,z=0.00961)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99347,y=0.11385,z=0.00961)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99339,y=0.11408,z=0.01092)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99339,y=0.11408,z=0.01092)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99343,y=0.11375,z=0.01264)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99343,y=0.11375,z=0.01264)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99332,y=0.11404,z=0.01500)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99332,y=0.11404,z=0.01500)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99335,y=0.11355,z=0.01846)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99335,y=0.11355,z=0.01846)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.95241,y=-0.30479,z=0.00674)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.95241,y=-0.30479,z=0.00674)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.95237,y=-0.30483,z=0.00735)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.95237,y=-0.30483,z=0.00735)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.95235,y=-0.30490,z=0.00810)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.95235,y=-0.30490,z=0.00810)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.95234,y=-0.30498,z=0.00901)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.95234,y=-0.30498,z=0.00901)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.95228,y=-0.30507,z=0.01015)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.95228,y=-0.30507,z=0.01015)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.95222,y=-0.30520,z=0.01163)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.95222,y=-0.30520,z=0.01163)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.95213,y=-0.30536,z=0.01360)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.95213,y=-0.30536,z=0.01360)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.95207,y=-0.30561,z=0.01639)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.95207,y=-0.30561,z=0.01639)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.80331,y=-0.59553,z=0.00663)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.80331,y=-0.59553,z=0.00663)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.80330,y=-0.59552,z=0.00723)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.80330,y=-0.59552,z=0.00723)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.80330,y=-0.59552,z=0.00795)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.80330,y=-0.59552,z=0.00795)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.80330,y=-0.59553,z=0.00882)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.80330,y=-0.59553,z=0.00882)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.80329,y=-0.59553,z=0.00992)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.80329,y=-0.59553,z=0.00992)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.80324,y=-0.59550,z=0.01132)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.80324,y=-0.59550,z=0.01132)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.80322,y=-0.59556,z=0.01319)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.80322,y=-0.59556,z=0.01319)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.80312,y=-0.59559,z=0.01579)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.80312,y=-0.59559,z=0.01579)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.80299,y=-0.59565,z=0.01968)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.80299,y=-0.59565,z=0.01968)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.30702,y=-0.95172,z=0.00551)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.30702,y=-0.95172,z=0.00551)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.30695,y=-0.95174,z=0.00591)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.30695,y=-0.95174,z=0.00591)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.30686,y=-0.95174,z=0.00639)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.30686,y=-0.95174,z=0.00639)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.30677,y=-0.95177,z=0.00694)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.30677,y=-0.95177,z=0.00694)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.30664,y=-0.95177,z=0.00760)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.30664,y=-0.95177,z=0.00760)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.30652,y=-0.95185,z=0.00840)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.30652,y=-0.95185,z=0.00840)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.30635,y=-0.95186,z=0.00938)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.30635,y=-0.95186,z=0.00938)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.30616,y=-0.95190,z=0.01063)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.30616,y=-0.95190,z=0.01063)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.30591,y=-0.95201,z=0.01226)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.30591,y=-0.95201,z=0.01226)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.30621,y=-0.95186,z=0.01448)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.30621,y=-0.95186,z=0.01448)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.30584,y=-0.95191,z=0.01768)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.30584,y=-0.95191,z=0.01768)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.05980,y=-0.99819,z=0.00520)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.05980,y=-0.99819,z=0.00520)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.05979,y=-0.99821,z=0.00556)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.05979,y=-0.99821,z=0.00556)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.05978,y=-0.99823,z=0.00598)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.05978,y=-0.99823,z=0.00598)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.05976,y=-0.99820,z=0.00646)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.05976,y=-0.99820,z=0.00646)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.05974,y=-0.99819,z=0.00703)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.05974,y=-0.99819,z=0.00703)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.05971,y=-0.99818,z=0.00771)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.05971,y=-0.99818,z=0.00771)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.05968,y=-0.99816,z=0.00853)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.05968,y=-0.99816,z=0.00853)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.05964,y=-0.99818,z=0.00954)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.05964,y=-0.99818,z=0.00954)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.05959,y=-0.99816,z=0.01083)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.05959,y=-0.99816,z=0.01083)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.05953,y=-0.99819,z=0.01253)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.05953,y=-0.99819,z=0.01253)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.05944,y=-0.99815,z=0.01486)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.05944,y=-0.99815,z=0.01486)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.05931,y=-0.99809,z=0.01825)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.05931,y=-0.99809,z=0.01825)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.55151,y=-0.83416,z=0.00712)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.55151,y=-0.83416,z=0.00712)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.55146,y=-0.83418,z=0.00781)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.55146,y=-0.83418,z=0.00781)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.55140,y=-0.83420,z=0.00866)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.55140,y=-0.83420,z=0.00866)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.55135,y=-0.83420,z=0.00971)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.55135,y=-0.83420,z=0.00971)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.55129,y=-0.83422,z=0.01105)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.55129,y=-0.83422,z=0.01105)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.55121,y=-0.83425,z=0.01282)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.55121,y=-0.83425,z=0.01282)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.55110,y=-0.83429,z=0.01527)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.55110,y=-0.83429,z=0.01527)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.55095,y=-0.83434,z=0.01887)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.55095,y=-0.83434,z=0.01887)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.82494,y=-0.56518,z=0.00675)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.82494,y=-0.56518,z=0.00675)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.82495,y=-0.56513,z=0.00737)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.82495,y=-0.56513,z=0.00737)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.82499,y=-0.56508,z=0.00811)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.82499,y=-0.56508,z=0.00811)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.82501,y=-0.56501,z=0.00903)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.82501,y=-0.56501,z=0.00903)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.82506,y=-0.56493,z=0.01017)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.82506,y=-0.56493,z=0.01017)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.82507,y=-0.56485,z=0.01165)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.82507,y=-0.56485,z=0.01165)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.82515,y=-0.56478,z=0.01364)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.82515,y=-0.56478,z=0.01364)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.82519,y=-0.56465,z=0.01644)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.82519,y=-0.56465,z=0.01644)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.96412,y=-0.26548,z=0.00508)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.96412,y=-0.26548,z=0.00508)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.96412,y=-0.26547,z=0.00542)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.96412,y=-0.26547,z=0.00542)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.96409,y=-0.26546,z=0.00581)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.96409,y=-0.26546,z=0.00581)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.96414,y=-0.26547,z=0.00627)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.96414,y=-0.26547,z=0.00627)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.96410,y=-0.26546,z=0.00680)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.96410,y=-0.26546,z=0.00680)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.96408,y=-0.26545,z=0.00744)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.96408,y=-0.26545,z=0.00744)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.96408,y=-0.26545,z=0.00820)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.96408,y=-0.26545,z=0.00820)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.96409,y=-0.26545,z=0.00913)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.96409,y=-0.26545,z=0.00913)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.96406,y=-0.26544,z=0.01031)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.96406,y=-0.26544,z=0.01031)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.96407,y=-0.26544,z=0.01184)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.96407,y=-0.26544,z=0.01184)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.96402,y=-0.26543,z=0.01389)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.96402,y=-0.26543,z=0.01389)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.96403,y=-0.26542,z=0.01681)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.96403,y=-0.26542,z=0.01681)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99953,y=-0.03080,z=0.00247)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99953,y=-0.03080,z=0.00247)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99956,y=-0.03080,z=0.00255)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99956,y=-0.03080,z=0.00255)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99952,y=-0.03080,z=0.00263)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99952,y=-0.03080,z=0.00263)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99952,y=-0.03080,z=0.00272)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99952,y=-0.03080,z=0.00272)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99954,y=-0.03081,z=0.00282)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99954,y=-0.03081,z=0.00282)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99957,y=-0.03081,z=0.00292)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99957,y=-0.03081,z=0.00292)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99952,y=-0.03081,z=0.00303)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99952,y=-0.03081,z=0.00303)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99950,y=-0.03081,z=0.00315)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99950,y=-0.03081,z=0.00315)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99954,y=-0.03081,z=0.00328)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99954,y=-0.03081,z=0.00328)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99956,y=-0.03081,z=0.00342)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99956,y=-0.03081,z=0.00342)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99954,y=-0.03081,z=0.00357)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99954,y=-0.03081,z=0.00357)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99954,y=-0.03081,z=0.00374)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99954,y=-0.03081,z=0.00374)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99949,y=-0.03081,z=0.00392)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99949,y=-0.03081,z=0.00392)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99956,y=-0.03082,z=0.00413)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99956,y=-0.03082,z=0.00413)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99952,y=-0.03082,z=0.00435)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99952,y=-0.03082,z=0.00435)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99955,y=-0.03082,z=0.00460)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99955,y=-0.03082,z=0.00460)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99951,y=-0.03082,z=0.00488)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99951,y=-0.03082,z=0.00488)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99952,y=-0.03082,z=0.00520)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99952,y=-0.03082,z=0.00520)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99953,y=-0.03082,z=0.00556)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99953,y=-0.03082,z=0.00556)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99952,y=-0.03082,z=0.00598)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99952,y=-0.03082,z=0.00598)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99952,y=-0.03082,z=0.00646)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99952,y=-0.03082,z=0.00646)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99950,y=-0.03082,z=0.00703)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99950,y=-0.03082,z=0.00703)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99949,y=-0.03083,z=0.00771)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99949,y=-0.03083,z=0.00771)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99948,y=-0.03083,z=0.00853)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99948,y=-0.03083,z=0.00853)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99947,y=-0.03083,z=0.00955)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99947,y=-0.03083,z=0.00955)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99947,y=-0.03083,z=0.01084)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99947,y=-0.03083,z=0.01084)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99944,y=-0.03083,z=0.01254)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99944,y=-0.03083,z=0.01254)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99940,y=-0.03083,z=0.01487)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99940,y=-0.03083,z=0.01487)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99936,y=-0.03084,z=0.01827)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99936,y=-0.03084,z=0.01827)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.07031,y=0.99751,z=0.00167)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.07031,y=0.99751,z=0.00167)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.07027,y=0.99753,z=0.00170)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.07027,y=0.99753,z=0.00170)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.07024,y=0.99757,z=0.00174)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.07024,y=0.99757,z=0.00174)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.07020,y=0.99760,z=0.00178)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.07020,y=0.99760,z=0.00178)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.07016,y=0.99754,z=0.00182)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.07016,y=0.99754,z=0.00182)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.07011,y=0.99749,z=0.00186)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.07011,y=0.99749,z=0.00186)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.07007,y=0.99753,z=0.00190)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.07007,y=0.99753,z=0.00190)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.07003,y=0.99756,z=0.00195)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.07003,y=0.99756,z=0.00195)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.06998,y=0.99758,z=0.00200)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.06998,y=0.99758,z=0.00200)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.07003,y=0.99756,z=0.00205)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.07003,y=0.99756,z=0.00205)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.06998,y=0.99758,z=0.00210)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.06998,y=0.99758,z=0.00210)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.07003,y=0.99755,z=0.00216)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.07003,y=0.99755,z=0.00216)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.06997,y=0.99754,z=0.00222)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.06997,y=0.99754,z=0.00222)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.07003,y=0.99752,z=0.00228)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.07003,y=0.99752,z=0.00228)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.06997,y=0.99753,z=0.00235)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.06997,y=0.99753,z=0.00235)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.07004,y=0.99759,z=0.00242)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.07004,y=0.99759,z=0.00242)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.06997,y=0.99755,z=0.00250)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.06997,y=0.99755,z=0.00250)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.07004,y=0.99756,z=0.00258)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.07004,y=0.99756,z=0.00258)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.06997,y=0.99757,z=0.00267)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.06997,y=0.99757,z=0.00267)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.07004,y=0.99754,z=0.00276)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.07004,y=0.99754,z=0.00276)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.06997,y=0.99753,z=0.00286)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.06997,y=0.99753,z=0.00286)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.07004,y=0.99756,z=0.00296)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.07004,y=0.99756,z=0.00296)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.06996,y=0.99754,z=0.00308)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.06996,y=0.99754,z=0.00308)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.07004,y=0.99755,z=0.00320)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.07004,y=0.99755,z=0.00320)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.06996,y=0.99755,z=0.00333)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.06996,y=0.99755,z=0.00333)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.07005,y=0.99755,z=0.00348)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.07005,y=0.99755,z=0.00348)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.06996,y=0.99757,z=0.00363)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.06996,y=0.99757,z=0.00363)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.07005,y=0.99752,z=0.00381)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.07005,y=0.99752,z=0.00381)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.06996,y=0.99756,z=0.00400)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.06996,y=0.99756,z=0.00400)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.07006,y=0.99754,z=0.00421)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.07006,y=0.99754,z=0.00421)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.06995,y=0.99754,z=0.00444)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.06995,y=0.99754,z=0.00444)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.07007,y=0.99752,z=0.00470)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.07007,y=0.99752,z=0.00470)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.06995,y=0.99754,z=0.00500)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.06995,y=0.99754,z=0.00500)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.07008,y=0.99754,z=0.00533)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.07008,y=0.99754,z=0.00533)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.06994,y=0.99755,z=0.00571)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.06994,y=0.99755,z=0.00571)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.07009,y=0.99755,z=0.00615)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.07009,y=0.99755,z=0.00615)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.06993,y=0.99753,z=0.00666)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.06993,y=0.99753,z=0.00666)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.07011,y=0.99753,z=0.00726)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.07011,y=0.99753,z=0.00726)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.06992,y=0.99752,z=0.00799)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.06992,y=0.99752,z=0.00799)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.07013,y=0.99751,z=0.00888)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.07013,y=0.99751,z=0.00888)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.06989,y=0.99750,z=0.00999)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.06989,y=0.99750,z=0.00999)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.07015,y=0.99749,z=0.01141)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.07015,y=0.99749,z=0.01141)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.06982,y=0.99747,z=0.01330)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.06982,y=0.99747,z=0.01330)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.07016,y=0.99745,z=0.01595)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.07016,y=0.99745,z=0.01595)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.06968,y=0.99741,z=0.01991)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.06968,y=0.99741,z=0.01991)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99238,y=0.12316,z=0.00490)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99238,y=0.12316,z=0.00490)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99238,y=0.12310,z=0.00522)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99238,y=0.12310,z=0.00522)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99244,y=0.12304,z=0.00558)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99244,y=0.12304,z=0.00558)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99244,y=0.12297,z=0.00600)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99244,y=0.12297,z=0.00600)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99241,y=0.12288,z=0.00648)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99241,y=0.12288,z=0.00648)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99243,y=0.12277,z=0.00706)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99243,y=0.12277,z=0.00706)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99242,y=0.12265,z=0.00774)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99242,y=0.12265,z=0.00774)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99242,y=0.12250,z=0.00857)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99242,y=0.12250,z=0.00857)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99242,y=0.12231,z=0.00959)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99242,y=0.12231,z=0.00959)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99248,y=0.12208,z=0.01090)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99248,y=0.12208,z=0.01090)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99248,y=0.12177,z=0.01262)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99248,y=0.12177,z=0.01262)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99244,y=0.12209,z=0.01498)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99244,y=0.12209,z=0.01498)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99244,y=0.12164,z=0.01843)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99244,y=0.12164,z=0.01843)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.86409,y=-0.50337,z=0.00611)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.86409,y=-0.50337,z=0.00611)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.86409,y=-0.50331,z=0.00661)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.86409,y=-0.50331,z=0.00661)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.86409,y=-0.50324,z=0.00721)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.86409,y=-0.50324,z=0.00721)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.86413,y=-0.50319,z=0.00792)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.86413,y=-0.50319,z=0.00792)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.86363,y=-0.50408,z=0.00881)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.86363,y=-0.50408,z=0.00881)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.86309,y=-0.50496,z=0.00992)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.86309,y=-0.50496,z=0.00992)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.86242,y=-0.50610,z=0.01135)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.86242,y=-0.50610,z=0.01135)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.86178,y=-0.50713,z=0.01326)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.86178,y=-0.50713,z=0.01326)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.86090,y=-0.50857,z=0.01594)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.86090,y=-0.50857,z=0.01594)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.85957,y=-0.51074,z=0.01999)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.85957,y=-0.51074,z=0.01999)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.42531,y=-0.90492,z=0.01309)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.42531,y=-0.90492,z=0.01309)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.42290,y=-0.90610,z=0.01566)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.42290,y=-0.90610,z=0.01566)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.41943,y=-0.90763,z=0.01951)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.41943,y=-0.90763,z=0.01951)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.52553,y=-0.85080,z=0.00629)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.52553,y=-0.85080,z=0.00629)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.52585,y=-0.85054,z=0.00683)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.52585,y=-0.85054,z=0.00683)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.52624,y=-0.85031,z=0.00746)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.52624,y=-0.85031,z=0.00746)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.52671,y=-0.85001,z=0.00823)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.52671,y=-0.85001,z=0.00823)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.52725,y=-0.84966,z=0.00917)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.52725,y=-0.84966,z=0.00917)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.52792,y=-0.84923,z=0.01035)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.52792,y=-0.84923,z=0.01035)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.52876,y=-0.84869,z=0.01188)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.52876,y=-0.84869,z=0.01188)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.52984,y=-0.84796,z=0.01394)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.52984,y=-0.84796,z=0.01394)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.53133,y=-0.84701,z=0.01687)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.53133,y=-0.84701,z=0.01687)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.92902,y=-0.37008,z=0.00413)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.92902,y=-0.37008,z=0.00413)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.92907,y=-0.36991,z=0.00435)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.92907,y=-0.36991,z=0.00435)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.92916,y=-0.36973,z=0.00460)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.92916,y=-0.36973,z=0.00460)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.92915,y=-0.36971,z=0.00488)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.92915,y=-0.36971,z=0.00488)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.92915,y=-0.36969,z=0.00520)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.92915,y=-0.36969,z=0.00520)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.92916,y=-0.36966,z=0.00556)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.92916,y=-0.36966,z=0.00556)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.92918,y=-0.36964,z=0.00597)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.92918,y=-0.36964,z=0.00597)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.92917,y=-0.36960,z=0.00645)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.92917,y=-0.36960,z=0.00645)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.92918,y=-0.36957,z=0.00702)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.92918,y=-0.36957,z=0.00702)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.92919,y=-0.36952,z=0.00769)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.92919,y=-0.36952,z=0.00769)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.92920,y=-0.36947,z=0.00851)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.92920,y=-0.36947,z=0.00851)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.92921,y=-0.36940,z=0.00952)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.92921,y=-0.36940,z=0.00952)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.92923,y=-0.36931,z=0.01081)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.92923,y=-0.36931,z=0.01081)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.92924,y=-0.36926,z=0.01249)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.92924,y=-0.36926,z=0.01249)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.92926,y=-0.36919,z=0.01480)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.92926,y=-0.36919,z=0.01480)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.92922,y=-0.36906,z=0.01815)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.92922,y=-0.36906,z=0.01815)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99721,y=-0.07451,z=0.00474)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99721,y=-0.07451,z=0.00474)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99723,y=-0.07451,z=0.00504)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99723,y=-0.07451,z=0.00504)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99725,y=-0.07451,z=0.00538)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99725,y=-0.07451,z=0.00538)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99722,y=-0.07451,z=0.00576)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99722,y=-0.07451,z=0.00576)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99720,y=-0.07451,z=0.00621)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99720,y=-0.07451,z=0.00621)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99720,y=-0.07451,z=0.00673)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99720,y=-0.07451,z=0.00673)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99721,y=-0.07451,z=0.00735)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99721,y=-0.07451,z=0.00735)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99722,y=-0.07452,z=0.00809)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99722,y=-0.07452,z=0.00809)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99716,y=-0.07452,z=0.00900)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99716,y=-0.07452,z=0.00900)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99717,y=-0.07452,z=0.01014)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99717,y=-0.07452,z=0.01014)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99716,y=-0.07453,z=0.01161)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99716,y=-0.07453,z=0.01161)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99708,y=-0.07453,z=0.01358)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99708,y=-0.07453,z=0.01358)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99706,y=-0.07453,z=0.01634)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99706,y=-0.07453,z=0.01634)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.76605,y=-0.64280,z=0.00620)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.76605,y=-0.64280,z=0.00620)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.76624,y=-0.64253,z=0.00672)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.76624,y=-0.64253,z=0.00672)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.76647,y=-0.64225,z=0.00733)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.76647,y=-0.64225,z=0.00733)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.76674,y=-0.64193,z=0.00807)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.76674,y=-0.64193,z=0.00807)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.76705,y=-0.64154,z=0.00897)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.76705,y=-0.64154,z=0.00897)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.76740,y=-0.64108,z=0.01010)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.76740,y=-0.64108,z=0.01010)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.76785,y=-0.64055,z=0.01155)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.76785,y=-0.64055,z=0.01155)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.76835,y=-0.63989,z=0.01348)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.76835,y=-0.63989,z=0.01348)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.76904,y=-0.63904,z=0.01619)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.76904,y=-0.63904,z=0.01619)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.27764,y=-0.96065,z=0.00731)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.27764,y=-0.96065,z=0.00731)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.27743,y=-0.96071,z=0.00804)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.27743,y=-0.96071,z=0.00804)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.27717,y=-0.96080,z=0.00894)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.27717,y=-0.96080,z=0.00894)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.27683,y=-0.96084,z=0.01007)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.27683,y=-0.96084,z=0.01007)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.27640,y=-0.96096,z=0.01152)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.27640,y=-0.96096,z=0.01152)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.27584,y=-0.96112,z=0.01345)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.27584,y=-0.96112,z=0.01345)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.27504,y=-0.96125,z=0.01618)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.27504,y=-0.96125,z=0.01618)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.28576,y=-0.95827,z=0.00783)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.28576,y=-0.95827,z=0.00783)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.28633,y=-0.95809,z=0.00868)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.28633,y=-0.95809,z=0.00868)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.28704,y=-0.95787,z=0.00973)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.28704,y=-0.95787,z=0.00973)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.28793,y=-0.95759,z=0.01107)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.28793,y=-0.95759,z=0.01107)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.28909,y=-0.95722,z=0.01285)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.28909,y=-0.95722,z=0.01285)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.29068,y=-0.95671,z=0.01530)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.29068,y=-0.95671,z=0.01530)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.29298,y=-0.95596,z=0.01890)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.29298,y=-0.95596,z=0.01890)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.97632,y=-0.21644,z=0.00340)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.97632,y=-0.21644,z=0.00340)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.97636,y=-0.21629,z=0.00355)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.97636,y=-0.21629,z=0.00355)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.97636,y=-0.21612,z=0.00371)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.97636,y=-0.21612,z=0.00371)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.97639,y=-0.21595,z=0.00389)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.97639,y=-0.21595,z=0.00389)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.97646,y=-0.21578,z=0.00409)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.97646,y=-0.21578,z=0.00409)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.97646,y=-0.21560,z=0.00430)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.97646,y=-0.21560,z=0.00430)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.97653,y=-0.21540,z=0.00454)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.97653,y=-0.21540,z=0.00454)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.97655,y=-0.21519,z=0.00481)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.97655,y=-0.21519,z=0.00481)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.97655,y=-0.21518,z=0.00512)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.97655,y=-0.21518,z=0.00512)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.97658,y=-0.21518,z=0.00547)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.97658,y=-0.21518,z=0.00547)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.97657,y=-0.21517,z=0.00587)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.97657,y=-0.21517,z=0.00587)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.97658,y=-0.21516,z=0.00633)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.97658,y=-0.21516,z=0.00633)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.97656,y=-0.21515,z=0.00688)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.97656,y=-0.21515,z=0.00688)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.97656,y=-0.21513,z=0.00752)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.97656,y=-0.21513,z=0.00752)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.97655,y=-0.21512,z=0.00830)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.97655,y=-0.21512,z=0.00830)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.97655,y=-0.21511,z=0.00927)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.97655,y=-0.21511,z=0.00927)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.97653,y=-0.21508,z=0.01048)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.97653,y=-0.21508,z=0.01048)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.97655,y=-0.21507,z=0.01206)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.97655,y=-0.21507,z=0.01206)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.97651,y=-0.21504,z=0.01419)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.97651,y=-0.21504,z=0.01419)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.97645,y=-0.21500,z=0.01725)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.97645,y=-0.21500,z=0.01725)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99968,y=-0.02567,z=0.00263)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99968,y=-0.02567,z=0.00263)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99969,y=-0.02567,z=0.00272)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99969,y=-0.02567,z=0.00272)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99966,y=-0.02567,z=0.00281)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99966,y=-0.02567,z=0.00281)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99966,y=-0.02567,z=0.00291)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99966,y=-0.02567,z=0.00291)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99967,y=-0.02567,z=0.00302)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99967,y=-0.02567,z=0.00302)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99966,y=-0.02567,z=0.00314)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99966,y=-0.02567,z=0.00314)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99968,y=-0.02568,z=0.00327)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99968,y=-0.02568,z=0.00327)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99965,y=-0.02567,z=0.00341)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99965,y=-0.02567,z=0.00341)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99967,y=-0.02568,z=0.00356)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99967,y=-0.02568,z=0.00356)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99964,y=-0.02567,z=0.00373)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99964,y=-0.02567,z=0.00373)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99965,y=-0.02568,z=0.00391)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99965,y=-0.02568,z=0.00391)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99968,y=-0.02568,z=0.00411)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99968,y=-0.02568,z=0.00411)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99965,y=-0.02568,z=0.00434)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99965,y=-0.02568,z=0.00434)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99966,y=-0.02569,z=0.00459)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99966,y=-0.02569,z=0.00459)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99968,y=-0.02569,z=0.00486)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99968,y=-0.02569,z=0.00486)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99966,y=-0.02569,z=0.00518)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99966,y=-0.02569,z=0.00518)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99968,y=-0.02569,z=0.00554)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99968,y=-0.02569,z=0.00554)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99967,y=-0.02569,z=0.00595)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99967,y=-0.02569,z=0.00595)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99965,y=-0.02569,z=0.00643)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99965,y=-0.02569,z=0.00643)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99966,y=-0.02569,z=0.00699)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99966,y=-0.02569,z=0.00699)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99966,y=-0.02569,z=0.00766)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99966,y=-0.02569,z=0.00766)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99963,y=-0.02569,z=0.00847)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99963,y=-0.02569,z=0.00847)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99961,y=-0.02569,z=0.00948)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99961,y=-0.02569,z=0.00948)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99962,y=-0.02570,z=0.01075)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99962,y=-0.02570,z=0.01075)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99957,y=-0.02570,z=0.01242)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99957,y=-0.02570,z=0.01242)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99956,y=-0.02570,z=0.01470)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99956,y=-0.02570,z=0.01470)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99956,y=-0.02570,z=0.01801)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99956,y=-0.02570,z=0.01801)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> accel: 4
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.98630,y=0.16480,z=0.00690)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.98630,y=0.16480,z=0.00690)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.98624,y=0.16501,z=0.00756)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.98624,y=0.16501,z=0.00756)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.98622,y=0.16525,z=0.00836)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.98622,y=0.16525,z=0.00836)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.98617,y=0.16551,z=0.00935)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.98617,y=0.16551,z=0.00935)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.98612,y=0.16581,z=0.01060)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.98612,y=0.16581,z=0.01060)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.98603,y=0.16615,z=0.01225)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.98603,y=0.16615,z=0.01225)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.98593,y=0.16656,z=0.01450)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.98593,y=0.16656,z=0.01450)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.98579,y=0.16706,z=0.01776)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.98579,y=0.16706,z=0.01776)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.97537,y=0.22043,z=0.00682)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.97537,y=0.22043,z=0.00682)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.97543,y=0.22011,z=0.00745)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.97543,y=0.22011,z=0.00745)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.97554,y=0.21978,z=0.00820)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.97554,y=0.21978,z=0.00820)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.97560,y=0.21940,z=0.00912)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.97560,y=0.21940,z=0.00912)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.97567,y=0.21897,z=0.01027)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.97567,y=0.21897,z=0.01027)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.97578,y=0.21848,z=0.01176)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.97578,y=0.21848,z=0.01176)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.97588,y=0.21789,z=0.01375)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.97588,y=0.21789,z=0.01375)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.97601,y=0.21719,z=0.01654)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.97601,y=0.21719,z=0.01654)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.84879,y=0.52866,z=0.00875)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.84879,y=0.52866,z=0.00875)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.84908,y=0.52815,z=0.00982)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.84908,y=0.52815,z=0.00982)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.84945,y=0.52761,z=0.01118)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.84945,y=0.52761,z=0.01118)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.84982,y=0.52689,z=0.01297)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.84982,y=0.52689,z=0.01297)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.85034,y=0.52605,z=0.01546)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.85034,y=0.52605,z=0.01546)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.85094,y=0.52490,z=0.01912)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.85094,y=0.52490,z=0.01912)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.65890,y=0.75216,z=0.00784)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.65890,y=0.75216,z=0.00784)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.66006,y=0.75117,z=0.00869)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.66006,y=0.75117,z=0.00869)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.65866,y=0.75234,z=0.00976)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.65866,y=0.75234,z=0.00976)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.66015,y=0.75108,z=0.01110)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.66015,y=0.75108,z=0.01110)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.65832,y=0.75261,z=0.01291)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.65832,y=0.75261,z=0.01291)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.66026,y=0.75086,z=0.01536)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.66026,y=0.75086,z=0.01536)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.65758,y=0.75317,z=0.01906)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.65758,y=0.75317,z=0.01906)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.21820,y=0.97585,z=0.00928)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.21820,y=0.97585,z=0.00928)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.22047,y=0.97532,z=0.01050)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.22047,y=0.97532,z=0.01050)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.21765,y=0.97593,z=0.01209)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.21765,y=0.97593,z=0.01209)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.22064,y=0.97523,z=0.01423)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.22064,y=0.97523,z=0.01423)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.21664,y=0.97608,z=0.01733)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.21664,y=0.97608,z=0.01733)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.53754,y=0.84322,z=0.00896)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.53754,y=0.84322,z=0.00896)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.53910,y=0.84220,z=0.01008)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.53910,y=0.84220,z=0.01008)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.54104,y=0.84091,z=0.01151)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.54104,y=0.84091,z=0.01151)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.53876,y=0.84235,z=0.01347)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.53876,y=0.84235,z=0.01347)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.54141,y=0.84056,z=0.01616)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.54141,y=0.84056,z=0.01616)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.88512,y=0.46534,z=0.00700)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.88512,y=0.46534,z=0.00700)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.88519,y=0.46513,z=0.00766)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.88519,y=0.46513,z=0.00766)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.88532,y=0.46490,z=0.00847)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.88532,y=0.46490,z=0.00847)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.88546,y=0.46466,z=0.00947)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.88546,y=0.46466,z=0.00947)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.88562,y=0.46433,z=0.01073)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.88562,y=0.46433,z=0.01073)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.88578,y=0.46395,z=0.01239)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.88578,y=0.46395,z=0.01239)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.88600,y=0.46350,z=0.01465)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.88600,y=0.46350,z=0.01465)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.88623,y=0.46290,z=0.01790)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.88623,y=0.46290,z=0.01790)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.95091,y=0.30944,z=0.00687)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.95091,y=0.30944,z=0.00687)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.95080,y=0.30967,z=0.00752)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.95080,y=0.30967,z=0.00752)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.95072,y=0.30996,z=0.00830)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.95072,y=0.30996,z=0.00830)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.95061,y=0.31027,z=0.00927)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.95061,y=0.31027,z=0.00927)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.95049,y=0.31061,z=0.01050)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.95049,y=0.31061,z=0.01050)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.95031,y=0.31100,z=0.01211)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.95031,y=0.31100,z=0.01211)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.95014,y=0.31147,z=0.01429)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.95014,y=0.31147,z=0.01429)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.94989,y=0.31207,z=0.01743)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.94989,y=0.31207,z=0.01743)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.15893,y=0.98727,z=0.00374)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.15893,y=0.98727,z=0.00374)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.15889,y=0.98733,z=0.00392)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.15889,y=0.98733,z=0.00392)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.15883,y=0.98731,z=0.00413)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.15883,y=0.98731,z=0.00413)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.15877,y=0.98734,z=0.00435)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.15877,y=0.98734,z=0.00435)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.15869,y=0.98732,z=0.00460)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.15869,y=0.98732,z=0.00460)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.15861,y=0.98733,z=0.00488)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.15861,y=0.98733,z=0.00488)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.15853,y=0.98736,z=0.00520)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.15853,y=0.98736,z=0.00520)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.15843,y=0.98738,z=0.00556)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.15843,y=0.98738,z=0.00556)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.15831,y=0.98738,z=0.00597)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.15831,y=0.98738,z=0.00597)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.15817,y=0.98738,z=0.00646)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.15817,y=0.98738,z=0.00646)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.15801,y=0.98744,z=0.00702)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.15801,y=0.98744,z=0.00702)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.15783,y=0.98745,z=0.00770)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.15783,y=0.98745,z=0.00770)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.15760,y=0.98748,z=0.00852)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.15760,y=0.98748,z=0.00852)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.15732,y=0.98752,z=0.00953)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.15732,y=0.98752,z=0.00953)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.15693,y=0.98756,z=0.01082)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.15693,y=0.98756,z=0.01082)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.15646,y=0.98761,z=0.01252)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.15646,y=0.98761,z=0.01252)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.15583,y=0.98768,z=0.01484)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.15583,y=0.98768,z=0.01484)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.15490,y=0.98770,z=0.01822)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.15490,y=0.98770,z=0.01822)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.98998,y=0.14116,z=0.00337)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.98998,y=0.14116,z=0.00337)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.98996,y=0.14127,z=0.00352)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.98996,y=0.14127,z=0.00352)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.98996,y=0.14140,z=0.00369)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.98996,y=0.14140,z=0.00369)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.98995,y=0.14153,z=0.00387)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.98995,y=0.14153,z=0.00387)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.98988,y=0.14167,z=0.00407)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.98988,y=0.14167,z=0.00407)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.98993,y=0.14185,z=0.00429)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.98993,y=0.14185,z=0.00429)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.98989,y=0.14203,z=0.00453)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.98989,y=0.14203,z=0.00453)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.98987,y=0.14199,z=0.00481)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.98987,y=0.14199,z=0.00481)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.98983,y=0.14221,z=0.00512)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.98983,y=0.14221,z=0.00512)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.98989,y=0.14219,z=0.00547)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.98989,y=0.14219,z=0.00547)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.98984,y=0.14216,z=0.00587)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.98984,y=0.14216,z=0.00587)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.98982,y=0.14213,z=0.00634)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.98982,y=0.14213,z=0.00634)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.98983,y=0.14209,z=0.00690)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.98983,y=0.14209,z=0.00690)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.98984,y=0.14205,z=0.00756)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.98984,y=0.14205,z=0.00756)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.98985,y=0.14200,z=0.00835)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.98985,y=0.14200,z=0.00835)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.98983,y=0.14194,z=0.00934)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.98983,y=0.14194,z=0.00934)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.98973,y=0.14237,z=0.01059)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.98973,y=0.14237,z=0.01059)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.98974,y=0.14235,z=0.01222)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.98974,y=0.14235,z=0.01222)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.98974,y=0.14232,z=0.01445)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.98974,y=0.14232,z=0.01445)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.98967,y=0.14226,z=0.01767)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.98967,y=0.14226,z=0.01767)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.99968,y=0.02436,z=0.00390)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.99968,y=0.02436,z=0.00390)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.99972,y=0.02438,z=0.00410)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.99972,y=0.02438,z=0.00410)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.99971,y=0.02440,z=0.00432)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.99971,y=0.02440,z=0.00432)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.99974,y=0.02442,z=0.00456)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.99974,y=0.02442,z=0.00456)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.99971,y=0.02445,z=0.00484)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.99971,y=0.02445,z=0.00484)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.99972,y=0.02448,z=0.00515)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.99972,y=0.02448,z=0.00515)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.99970,y=0.02451,z=0.00551)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.99970,y=0.02451,z=0.00551)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.99970,y=0.02455,z=0.00592)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.99970,y=0.02455,z=0.00592)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.99969,y=0.02459,z=0.00639)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.99969,y=0.02459,z=0.00639)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.99968,y=0.02465,z=0.00694)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.99968,y=0.02465,z=0.00694)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.99966,y=0.02471,z=0.00760)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.99966,y=0.02471,z=0.00760)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.99967,y=0.02478,z=0.00840)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.99967,y=0.02478,z=0.00840)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.99963,y=0.02487,z=0.00939)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.99963,y=0.02487,z=0.00939)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.99963,y=0.02499,z=0.01063)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.99963,y=0.02499,z=0.01063)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.99963,y=0.02514,z=0.01226)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.99963,y=0.02514,z=0.01226)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.99956,y=0.02535,z=0.01449)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.99956,y=0.02535,z=0.01449)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.99955,y=0.02565,z=0.01769)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.99955,y=0.02565,z=0.01769)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.17412,y=-0.98475,z=0.00396)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.17412,y=-0.98475,z=0.00396)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.17482,y=-0.98462,z=0.00416)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.17482,y=-0.98462,z=0.00416)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.17560,y=-0.98446,z=0.00439)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.17560,y=-0.98446,z=0.00439)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.17647,y=-0.98430,z=0.00464)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.17647,y=-0.98430,z=0.00464)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.17746,y=-0.98415,z=0.00493)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.17746,y=-0.98415,z=0.00493)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.17857,y=-0.98396,z=0.00525)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.17857,y=-0.98396,z=0.00525)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.17982,y=-0.98368,z=0.00562)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.17982,y=-0.98368,z=0.00562)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.18128,y=-0.98343,z=0.00604)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.18128,y=-0.98343,z=0.00604)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.17980,y=-0.98367,z=0.00654)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.17980,y=-0.98367,z=0.00654)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.18151,y=-0.98339,z=0.00712)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.18151,y=-0.98339,z=0.00712)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.17976,y=-0.98367,z=0.00782)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.17976,y=-0.98367,z=0.00782)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.18183,y=-0.98329,z=0.00866)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.18183,y=-0.98329,z=0.00866)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.17969,y=-0.98368,z=0.00971)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.17969,y=-0.98368,z=0.00971)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.18231,y=-0.98316,z=0.01105)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.18231,y=-0.98316,z=0.01105)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.17957,y=-0.98364,z=0.01283)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.17957,y=-0.98364,z=0.01283)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.18318,y=-0.98298,z=0.01527)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.18318,y=-0.98298,z=0.01527)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.17931,y=-0.98358,z=0.01887)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.17931,y=-0.98358,z=0.01887)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.81894,y=-0.57383,z=0.00885)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.81894,y=-0.57383,z=0.00885)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.81972,y=-0.57271,z=0.00994)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.81972,y=-0.57271,z=0.00994)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.82060,y=-0.57136,z=0.01132)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.82060,y=-0.57136,z=0.01132)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.81957,y=-0.57290,z=0.01322)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.81957,y=-0.57290,z=0.01322)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.82077,y=-0.57107,z=0.01578)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.82077,y=-0.57107,z=0.01578)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.81919,y=-0.57323,z=0.01974)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.81919,y=-0.57323,z=0.01974)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.94191,y=-0.33576,z=0.00716)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.94191,y=-0.33576,z=0.00716)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.94173,y=-0.33634,z=0.00788)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.94173,y=-0.33634,z=0.00788)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.94151,y=-0.33697,z=0.00876)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.94151,y=-0.33697,z=0.00876)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.94121,y=-0.33770,z=0.00986)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.94121,y=-0.33770,z=0.00986)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.94089,y=-0.33855,z=0.01127)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.94089,y=-0.33855,z=0.01127)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.94048,y=-0.33956,z=0.01315)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.94048,y=-0.33956,z=0.01315)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.94004,y=-0.34078,z=0.01580)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.94004,y=-0.34078,z=0.01580)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.93939,y=-0.34233,z=0.01978)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.93939,y=-0.34233,z=0.01978)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.80653,y=-0.59111,z=0.00938)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.80653,y=-0.59111,z=0.00938)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.80683,y=-0.59069,z=0.01062)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.80683,y=-0.59069,z=0.01062)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.80719,y=-0.59017,z=0.01223)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.80719,y=-0.59017,z=0.01223)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.80761,y=-0.58956,z=0.01442)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.80761,y=-0.58956,z=0.01442)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.80816,y=-0.58872,z=0.01757)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.80816,y=-0.58872,z=0.01757)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.64773,y=-0.76184,z=0.00753)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.64773,y=-0.76184,z=0.00753)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.64820,y=-0.76142,z=0.00831)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.64820,y=-0.76142,z=0.00831)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.64875,y=-0.76093,z=0.00927)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.64875,y=-0.76093,z=0.00927)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.64939,y=-0.76036,z=0.01047)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.64939,y=-0.76036,z=0.01047)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.65021,y=-0.75967,z=0.01204)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.65021,y=-0.75967,z=0.01204)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.65123,y=-0.75876,z=0.01416)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.65123,y=-0.75876,z=0.01416)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.65258,y=-0.75751,z=0.01717)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.65258,y=-0.75751,z=0.01717)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.17944,y=-0.98371,z=0.00897)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.17944,y=-0.98371,z=0.00897)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.18182,y=-0.98328,z=0.01010)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.18182,y=-0.98328,z=0.01010)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.17927,y=-0.98375,z=0.01157)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.17927,y=-0.98375,z=0.01157)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.18241,y=-0.98310,z=0.01351)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.18241,y=-0.98310,z=0.01351)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.17895,y=-0.98373,z=0.01627)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.17895,y=-0.98373,z=0.01627)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.68935,y=-0.72443,z=0.00489)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.68935,y=-0.72443,z=0.00489)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.68966,y=-0.72412,z=0.00521)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.68966,y=-0.72412,z=0.00521)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.69001,y=-0.72379,z=0.00556)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.69001,y=-0.72379,z=0.00556)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.69044,y=-0.72343,z=0.00598)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.69044,y=-0.72343,z=0.00598)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.69086,y=-0.72298,z=0.00646)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.69086,y=-0.72298,z=0.00646)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.69133,y=-0.72249,z=0.00702)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.69133,y=-0.72249,z=0.00702)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.69190,y=-0.72196,z=0.00769)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.69190,y=-0.72196,z=0.00769)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.69255,y=-0.72132,z=0.00850)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.69255,y=-0.72132,z=0.00850)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.69332,y=-0.72058,z=0.00950)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.69332,y=-0.72058,z=0.00950)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.69423,y=-0.71968,z=0.01076)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.69423,y=-0.71968,z=0.01076)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.69535,y=-0.71857,z=0.01242)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.69535,y=-0.71857,z=0.01242)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.69679,y=-0.71715,z=0.01467)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.69679,y=-0.71715,z=0.01467)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.69868,y=-0.71522,z=0.01792)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.69868,y=-0.71522,z=0.01792)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> accel: 4
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99893,y=-0.04580,z=0.00765)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99893,y=-0.04580,z=0.00765)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99889,y=-0.04580,z=0.00847)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99889,y=-0.04580,z=0.00847)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99892,y=-0.04581,z=0.00947)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99892,y=-0.04581,z=0.00947)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99888,y=-0.04582,z=0.01074)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99888,y=-0.04582,z=0.01074)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99888,y=-0.04582,z=0.01241)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99888,y=-0.04582,z=0.01241)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99882,y=-0.04583,z=0.01469)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99882,y=-0.04583,z=0.01469)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99874,y=-0.04583,z=0.01800)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99874,y=-0.04583,z=0.01800)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.98727,y=0.15897,z=0.00690)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.98727,y=0.15897,z=0.00690)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.98721,y=0.15916,z=0.00756)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.98721,y=0.15916,z=0.00756)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.98721,y=0.15937,z=0.00837)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.98721,y=0.15937,z=0.00837)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.98714,y=0.15960,z=0.00936)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.98714,y=0.15960,z=0.00936)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.98705,y=0.15986,z=0.01061)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.98705,y=0.15986,z=0.01061)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.98701,y=0.16018,z=0.01226)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.98701,y=0.16018,z=0.01226)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.98694,y=0.16055,z=0.01451)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.98694,y=0.16055,z=0.01451)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.98676,y=0.16099,z=0.01778)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.98676,y=0.16099,z=0.01778)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.85238,y=0.52279,z=0.00917)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.85238,y=0.52279,z=0.00917)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.85280,y=0.52212,z=0.01034)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.85280,y=0.52212,z=0.01034)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.85333,y=0.52124,z=0.01185)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.85333,y=0.52124,z=0.01185)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.85393,y=0.52020,z=0.01388)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.85393,y=0.52020,z=0.01388)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.85470,y=0.51885,z=0.01676)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.85470,y=0.51885,z=0.01676)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.67294,y=0.73968,z=0.00744)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.67294,y=0.73968,z=0.00744)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.67251,y=0.74001,z=0.00820)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.67251,y=0.74001,z=0.00820)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.67205,y=0.74045,z=0.00914)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.67205,y=0.74045,z=0.00914)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.67149,y=0.74096,z=0.01033)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.67149,y=0.74096,z=0.01033)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.67075,y=0.74156,z=0.01187)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.67075,y=0.74156,z=0.01187)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.66988,y=0.74238,z=0.01396)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.66988,y=0.74238,z=0.01396)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.66864,y=0.74338,z=0.01693)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.66864,y=0.74338,z=0.01693)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.17076,y=0.98527,z=0.00899)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.17076,y=0.98527,z=0.00899)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.17208,y=0.98501,z=0.01012)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.17208,y=0.98501,z=0.01012)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.17377,y=0.98471,z=0.01158)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.17377,y=0.98471,z=0.01158)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.17603,y=0.98430,z=0.01354)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.17603,y=0.98430,z=0.01354)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.17920,y=0.98371,z=0.01629)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.17920,y=0.98371,z=0.01629)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.51542,y=0.85691,z=0.00874)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.51542,y=0.85691,z=0.00874)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.51498,y=0.85713,z=0.00981)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.51498,y=0.85713,z=0.00981)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.51448,y=0.85745,z=0.01118)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.51448,y=0.85745,z=0.01118)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.51382,y=0.85783,z=0.01301)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.51382,y=0.85783,z=0.01301)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.51294,y=0.85832,z=0.01554)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.51294,y=0.85832,z=0.01554)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.51163,y=0.85896,z=0.01931)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.51163,y=0.85896,z=0.01931)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.89810,y=0.43973,z=0.00748)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.89810,y=0.43973,z=0.00748)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.89844,y=0.43900,z=0.00824)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.89844,y=0.43900,z=0.00824)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.89884,y=0.43814,z=0.00917)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.89884,y=0.43814,z=0.00917)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.89932,y=0.43720,z=0.01034)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.89932,y=0.43720,z=0.01034)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.89984,y=0.43607,z=0.01184)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.89984,y=0.43607,z=0.01184)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.90046,y=0.43471,z=0.01385)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.90046,y=0.43471,z=0.01385)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.89961,y=0.43627,z=0.01682)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.89961,y=0.43627,z=0.01682)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.95261,y=0.30410,z=0.00668)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.95261,y=0.30410,z=0.00668)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.95255,y=0.30430,z=0.00730)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.95255,y=0.30430,z=0.00730)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.95246,y=0.30450,z=0.00804)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.95246,y=0.30450,z=0.00804)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.95239,y=0.30476,z=0.00894)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.95239,y=0.30476,z=0.00894)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.95228,y=0.30503,z=0.01008)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.95228,y=0.30503,z=0.01008)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.95217,y=0.30533,z=0.01154)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.95217,y=0.30533,z=0.01154)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.95206,y=0.30574,z=0.01350)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.95206,y=0.30574,z=0.01350)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.95184,y=0.30622,z=0.01627)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.95184,y=0.30622,z=0.01627)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.17284,y=0.98497,z=0.00372)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.17284,y=0.98497,z=0.00372)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.17344,y=0.98485,z=0.00390)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.17344,y=0.98485,z=0.00390)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.17411,y=0.98470,z=0.00410)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.17411,y=0.98470,z=0.00410)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.17485,y=0.98458,z=0.00432)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.17485,y=0.98458,z=0.00432)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.17567,y=0.98445,z=0.00456)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.17567,y=0.98445,z=0.00456)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.17659,y=0.98429,z=0.00484)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.17659,y=0.98429,z=0.00484)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.17762,y=0.98409,z=0.00515)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.17762,y=0.98409,z=0.00515)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.17880,y=0.98390,z=0.00550)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.17880,y=0.98390,z=0.00550)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.18014,y=0.98365,z=0.00591)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.18014,y=0.98365,z=0.00591)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.17860,y=0.98390,z=0.00638)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.17860,y=0.98390,z=0.00638)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.18016,y=0.98360,z=0.00693)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.18016,y=0.98360,z=0.00693)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.17834,y=0.98395,z=0.00759)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.17834,y=0.98395,z=0.00759)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.18020,y=0.98358,z=0.00838)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.18020,y=0.98358,z=0.00838)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.17795,y=0.98399,z=0.00937)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.17795,y=0.98399,z=0.00937)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.18027,y=0.98356,z=0.01060)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.18027,y=0.98356,z=0.01060)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.17736,y=0.98403,z=0.01223)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.17736,y=0.98403,z=0.01223)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.18039,y=0.98347,z=0.01443)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.18039,y=0.98347,z=0.01443)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.17623,y=0.98422,z=0.01762)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.17623,y=0.98422,z=0.01762)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.98906,y=0.14751,z=0.00339)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.98906,y=0.14751,z=0.00339)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.98904,y=0.14756,z=0.00354)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.98904,y=0.14756,z=0.00354)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.98902,y=0.14761,z=0.00370)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.98902,y=0.14761,z=0.00370)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.98904,y=0.14768,z=0.00389)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.98904,y=0.14768,z=0.00389)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.98901,y=0.14774,z=0.00409)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.98901,y=0.14774,z=0.00409)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.98901,y=0.14781,z=0.00431)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.98901,y=0.14781,z=0.00431)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.98900,y=0.14789,z=0.00456)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.98900,y=0.14789,z=0.00456)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.98896,y=0.14798,z=0.00484)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.98896,y=0.14798,z=0.00484)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.98895,y=0.14809,z=0.00515)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.98895,y=0.14809,z=0.00515)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.98897,y=0.14821,z=0.00551)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.98897,y=0.14821,z=0.00551)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.98894,y=0.14834,z=0.00592)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.98894,y=0.14834,z=0.00592)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.98889,y=0.14849,z=0.00640)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.98889,y=0.14849,z=0.00640)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.98886,y=0.14868,z=0.00696)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.98886,y=0.14868,z=0.00696)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.98881,y=0.14889,z=0.00764)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.98881,y=0.14889,z=0.00764)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.98877,y=0.14916,z=0.00845)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.98877,y=0.14916,z=0.00845)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.98870,y=0.14949,z=0.00946)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.98870,y=0.14949,z=0.00946)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.98867,y=0.14991,z=0.01075)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.98867,y=0.14991,z=0.01075)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.98857,y=0.15046,z=0.01243)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.98857,y=0.15046,z=0.01243)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.98849,y=0.15049,z=0.01475)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.98849,y=0.15049,z=0.01475)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.98839,y=0.15053,z=0.01814)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.98839,y=0.15053,z=0.01814)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.99970,y=0.02480,z=0.00387)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.99970,y=0.02480,z=0.00387)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.99968,y=0.02484,z=0.00407)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.99968,y=0.02484,z=0.00407)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.99971,y=0.02489,z=0.00429)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.99971,y=0.02489,z=0.00429)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.99970,y=0.02494,z=0.00453)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.99970,y=0.02494,z=0.00453)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.99965,y=0.02499,z=0.00481)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.99965,y=0.02499,z=0.00481)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.99967,y=0.02506,z=0.00511)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.99967,y=0.02506,z=0.00511)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.99969,y=0.02513,z=0.00546)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.99969,y=0.02513,z=0.00546)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.99971,y=0.02521,z=0.00586)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.99971,y=0.02521,z=0.00586)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.99967,y=0.02531,z=0.00633)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.99967,y=0.02531,z=0.00633)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.99964,y=0.02542,z=0.00687)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.99964,y=0.02542,z=0.00687)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.99965,y=0.02556,z=0.00752)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.99965,y=0.02556,z=0.00752)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.99962,y=0.02572,z=0.00830)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.99962,y=0.02572,z=0.00830)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.99963,y=0.02592,z=0.00926)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.99963,y=0.02592,z=0.00926)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.99958,y=0.02617,z=0.01047)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.99958,y=0.02617,z=0.01047)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.99959,y=0.02589,z=0.01204)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.99959,y=0.02589,z=0.01204)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.99958,y=0.02623,z=0.01418)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.99958,y=0.02623,z=0.01418)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.99948,y=0.02585,z=0.01723)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.99948,y=0.02585,z=0.01723)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.17989,y=-0.98366,z=0.00395)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.17989,y=-0.98366,z=0.00395)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.18090,y=-0.98351,z=0.00416)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.18090,y=-0.98351,z=0.00416)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.17989,y=-0.98370,z=0.00439)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.17989,y=-0.98370,z=0.00439)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.18101,y=-0.98347,z=0.00464)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.18101,y=-0.98347,z=0.00464)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.17988,y=-0.98367,z=0.00493)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.17988,y=-0.98367,z=0.00493)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.18115,y=-0.98344,z=0.00525)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.18115,y=-0.98344,z=0.00525)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.17987,y=-0.98368,z=0.00562)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.17987,y=-0.98368,z=0.00562)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.18133,y=-0.98342,z=0.00604)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.18133,y=-0.98342,z=0.00604)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.17986,y=-0.98368,z=0.00654)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.17986,y=-0.98368,z=0.00654)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.18157,y=-0.98334,z=0.00712)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.18157,y=-0.98334,z=0.00712)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.17982,y=-0.98367,z=0.00782)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.17982,y=-0.98367,z=0.00782)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.18190,y=-0.98329,z=0.00866)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.18190,y=-0.98329,z=0.00866)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.17977,y=-0.98367,z=0.00972)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.17977,y=-0.98367,z=0.00972)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.18240,y=-0.98314,z=0.01106)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.18240,y=-0.98314,z=0.01106)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.17967,y=-0.98363,z=0.01283)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.17967,y=-0.98363,z=0.01283)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.18329,y=-0.98289,z=0.01527)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.18329,y=-0.98289,z=0.01527)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.17946,y=-0.98356,z=0.01889)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.17946,y=-0.98356,z=0.01889)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.81912,y=-0.57356,z=0.00886)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.81912,y=-0.57356,z=0.00886)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.81987,y=-0.57242,z=0.00994)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.81987,y=-0.57242,z=0.00994)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.82079,y=-0.57110,z=0.01132)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.82079,y=-0.57110,z=0.01132)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.81978,y=-0.57259,z=0.01322)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.81978,y=-0.57259,z=0.01322)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.82097,y=-0.57073,z=0.01579)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.82097,y=-0.57073,z=0.01579)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.81943,y=-0.57291,z=0.01974)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.81943,y=-0.57291,z=0.01974)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.94199,y=-0.33564,z=0.00716)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.94199,y=-0.33564,z=0.00716)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.94176,y=-0.33619,z=0.00788)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.94176,y=-0.33619,z=0.00788)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.94153,y=-0.33685,z=0.00876)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.94153,y=-0.33685,z=0.00876)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.94127,y=-0.33757,z=0.00986)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.94127,y=-0.33757,z=0.00986)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.94094,y=-0.33840,z=0.01127)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.94094,y=-0.33840,z=0.01127)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.94054,y=-0.33938,z=0.01315)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.94054,y=-0.33938,z=0.01315)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.94004,y=-0.34063,z=0.01580)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.94004,y=-0.34063,z=0.01580)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.93947,y=-0.34217,z=0.01978)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.93947,y=-0.34217,z=0.01978)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.80656,y=-0.59109,z=0.00938)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.80656,y=-0.59109,z=0.00938)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.80683,y=-0.59063,z=0.01062)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.80683,y=-0.59063,z=0.01062)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.80725,y=-0.59015,z=0.01223)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.80725,y=-0.59015,z=0.01223)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.80761,y=-0.58948,z=0.01442)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.80761,y=-0.58948,z=0.01442)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.80822,y=-0.58868,z=0.01757)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.80822,y=-0.58868,z=0.01757)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.64773,y=-0.76180,z=0.00753)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.64773,y=-0.76180,z=0.00753)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.64821,y=-0.76140,z=0.00831)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.64821,y=-0.76140,z=0.00831)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.64877,y=-0.76092,z=0.00927)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.64877,y=-0.76092,z=0.00927)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.64941,y=-0.76034,z=0.01047)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.64941,y=-0.76034,z=0.01047)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.65025,y=-0.75964,z=0.01204)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.65025,y=-0.75964,z=0.01204)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.65123,y=-0.75868,z=0.01416)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.65123,y=-0.75868,z=0.01416)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.65264,y=-0.75749,z=0.01717)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.65264,y=-0.75749,z=0.01717)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.17945,y=-0.98371,z=0.00897)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.17945,y=-0.98371,z=0.00897)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.18183,y=-0.98329,z=0.01010)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.18183,y=-0.98329,z=0.01010)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.17929,y=-0.98376,z=0.01157)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.17929,y=-0.98376,z=0.01157)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.18242,y=-0.98311,z=0.01351)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.18242,y=-0.98311,z=0.01351)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.17896,y=-0.98373,z=0.01627)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.17896,y=-0.98373,z=0.01627)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.68938,y=-0.72443,z=0.00489)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.68938,y=-0.72443,z=0.00489)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.68966,y=-0.72409,z=0.00521)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.68966,y=-0.72409,z=0.00521)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.69004,y=-0.72379,z=0.00556)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.69004,y=-0.72379,z=0.00556)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.69044,y=-0.72343,z=0.00598)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.69044,y=-0.72343,z=0.00598)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.69086,y=-0.72298,z=0.00646)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.69086,y=-0.72298,z=0.00646)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.69133,y=-0.72249,z=0.00702)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.69133,y=-0.72249,z=0.00702)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.69190,y=-0.72196,z=0.00769)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.69190,y=-0.72196,z=0.00769)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.69255,y=-0.72132,z=0.00850)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.69255,y=-0.72132,z=0.00850)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.69332,y=-0.72058,z=0.00950)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.69332,y=-0.72058,z=0.00950)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.69423,y=-0.71968,z=0.01076)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.69423,y=-0.71968,z=0.01076)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.69535,y=-0.71857,z=0.01242)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.69535,y=-0.71857,z=0.01242)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.69679,y=-0.71715,z=0.01467)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.69679,y=-0.71715,z=0.01467)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.69868,y=-0.71522,z=0.01792)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.69868,y=-0.71522,z=0.01792)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.11265,y=0.99363,z=0.00369)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.11265,y=0.99363,z=0.00369)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.11231,y=0.99369,z=0.00387)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.11231,y=0.99369,z=0.00387)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.11191,y=0.99369,z=0.00407)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.11191,y=0.99369,z=0.00407)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.11149,y=0.99377,z=0.00429)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.11149,y=0.99377,z=0.00429)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.11101,y=0.99381,z=0.00453)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.11101,y=0.99381,z=0.00453)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.11048,y=0.99387,z=0.00480)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.11048,y=0.99387,z=0.00480)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.10988,y=0.99394,z=0.00511)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.10988,y=0.99394,z=0.00511)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.10920,y=0.99401,z=0.00546)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.10920,y=0.99401,z=0.00546)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.10841,y=0.99410,z=0.00586)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.10841,y=0.99410,z=0.00586)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.10751,y=0.99420,z=0.00632)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.10751,y=0.99420,z=0.00632)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.10645,y=0.99429,z=0.00687)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.10645,y=0.99429,z=0.00687)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.10519,y=0.99445,z=0.00751)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.10519,y=0.99445,z=0.00751)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.10367,y=0.99457,z=0.00829)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.10367,y=0.99457,z=0.00829)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.10180,y=0.99478,z=0.00925)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.10180,y=0.99478,z=0.00925)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.09944,y=0.99498,z=0.01047)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.09944,y=0.99498,z=0.01047)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.10233,y=0.99470,z=0.01204)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.10233,y=0.99470,z=0.01204)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.09924,y=0.99497,z=0.01418)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.09924,y=0.99497,z=0.01418)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.10332,y=0.99449,z=0.01722)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.10332,y=0.99449,z=0.01722)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99196,y=0.12681,z=0.00280)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99196,y=0.12681,z=0.00280)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99194,y=0.12685,z=0.00290)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99194,y=0.12685,z=0.00290)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99193,y=0.12689,z=0.00301)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99193,y=0.12689,z=0.00301)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99189,y=0.12693,z=0.00313)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99189,y=0.12693,z=0.00313)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99188,y=0.12697,z=0.00326)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99188,y=0.12697,z=0.00326)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99192,y=0.12703,z=0.00340)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99192,y=0.12703,z=0.00340)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99189,y=0.12706,z=0.00355)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99189,y=0.12706,z=0.00355)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99190,y=0.12711,z=0.00371)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99190,y=0.12711,z=0.00371)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99189,y=0.12715,z=0.00390)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99189,y=0.12715,z=0.00390)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99186,y=0.12720,z=0.00410)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99186,y=0.12720,z=0.00410)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99185,y=0.12726,z=0.00432)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99185,y=0.12726,z=0.00432)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99186,y=0.12732,z=0.00457)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99186,y=0.12732,z=0.00457)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99187,y=0.12739,z=0.00485)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99187,y=0.12739,z=0.00485)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99180,y=0.12746,z=0.00517)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99180,y=0.12746,z=0.00517)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99185,y=0.12753,z=0.00553)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99185,y=0.12753,z=0.00553)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99181,y=0.12760,z=0.00594)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99181,y=0.12760,z=0.00594)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99180,y=0.12768,z=0.00642)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99180,y=0.12768,z=0.00642)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99178,y=0.12778,z=0.00698)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99178,y=0.12778,z=0.00698)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99176,y=0.12790,z=0.00766)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99176,y=0.12790,z=0.00766)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99174,y=0.12799,z=0.00848)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99174,y=0.12799,z=0.00848)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99170,y=0.12812,z=0.00949)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99170,y=0.12812,z=0.00949)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99170,y=0.12827,z=0.01078)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99170,y=0.12827,z=0.01078)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99164,y=0.12841,z=0.01247)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99164,y=0.12841,z=0.01247)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99156,y=0.12861,z=0.01480)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99156,y=0.12861,z=0.01480)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99145,y=0.12880,z=0.01819)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99145,y=0.12880,z=0.01819)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.99983,y=0.01776,z=0.00325)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.99983,y=0.01776,z=0.00325)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.99985,y=0.01776,z=0.00338)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.99985,y=0.01776,z=0.00338)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.99984,y=0.01777,z=0.00353)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.99984,y=0.01777,z=0.00353)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.99988,y=0.01778,z=0.00370)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.99988,y=0.01778,z=0.00370)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.99985,y=0.01779,z=0.00388)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.99985,y=0.01779,z=0.00388)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.99982,y=0.01780,z=0.00407)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.99982,y=0.01780,z=0.00407)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.99985,y=0.01781,z=0.00429)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.99985,y=0.01781,z=0.00429)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.99984,y=0.01780,z=0.00453)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.99984,y=0.01780,z=0.00453)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.99986,y=0.01781,z=0.00481)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.99986,y=0.01781,z=0.00481)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.99987,y=0.01780,z=0.00511)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.99987,y=0.01780,z=0.00511)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.99984,y=0.01781,z=0.00546)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.99984,y=0.01781,z=0.00546)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.99981,y=0.01780,z=0.00586)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.99981,y=0.01780,z=0.00586)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.99982,y=0.01781,z=0.00633)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.99982,y=0.01781,z=0.00633)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.99982,y=0.01780,z=0.00687)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.99982,y=0.01780,z=0.00687)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.99981,y=0.01782,z=0.00752)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.99981,y=0.01782,z=0.00752)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.99979,y=0.01780,z=0.00830)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.99979,y=0.01780,z=0.00830)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.99982,y=0.01782,z=0.00926)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.99982,y=0.01782,z=0.00926)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.99979,y=0.01780,z=0.01047)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.99979,y=0.01780,z=0.01047)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.99975,y=0.01783,z=0.01205)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.99975,y=0.01783,z=0.01205)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.99972,y=0.01780,z=0.01418)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.99972,y=0.01780,z=0.01418)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.99975,y=0.01784,z=0.01724)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.99975,y=0.01784,z=0.01724)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.14956,y=0.98876,z=0.00329)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.14956,y=0.98876,z=0.00329)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.14912,y=0.98881,z=0.00343)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.14912,y=0.98881,z=0.00343)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.14864,y=0.98890,z=0.00358)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.14864,y=0.98890,z=0.00358)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.14812,y=0.98899,z=0.00375)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.14812,y=0.98899,z=0.00375)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.14755,y=0.98904,z=0.00393)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.14755,y=0.98904,z=0.00393)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.14692,y=0.98915,z=0.00414)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.14692,y=0.98915,z=0.00414)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.14623,y=0.98928,z=0.00436)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.14623,y=0.98928,z=0.00436)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.14544,y=0.98935,z=0.00462)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.14544,y=0.98935,z=0.00462)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.14457,y=0.98948,z=0.00490)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.14457,y=0.98948,z=0.00490)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.14359,y=0.98966,z=0.00522)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.14359,y=0.98966,z=0.00522)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.14246,y=0.98981,z=0.00559)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.14246,y=0.98981,z=0.00559)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.14116,y=0.98995,z=0.00601)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.14116,y=0.98995,z=0.00601)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.13967,y=0.99018,z=0.00650)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.13967,y=0.99018,z=0.00650)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.14137,y=0.98993,z=0.00707)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.14137,y=0.98993,z=0.00707)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.13960,y=0.99020,z=0.00776)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.13960,y=0.99020,z=0.00776)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.14166,y=0.98987,z=0.00859)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.14166,y=0.98987,z=0.00859)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.13950,y=0.99018,z=0.00962)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.13950,y=0.99018,z=0.00962)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.14210,y=0.98978,z=0.01093)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.14210,y=0.98978,z=0.01093)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.13928,y=0.99018,z=0.01266)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.13928,y=0.99018,z=0.01266)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.14288,y=0.98962,z=0.01504)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.14288,y=0.98962,z=0.01504)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.13893,y=0.99009,z=0.01852)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.13893,y=0.99009,z=0.01852)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99299,y=0.11849,z=0.00289)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99299,y=0.11849,z=0.00289)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99298,y=0.11847,z=0.00300)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99298,y=0.11847,z=0.00300)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99298,y=0.11844,z=0.00311)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99298,y=0.11844,z=0.00311)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99300,y=0.11841,z=0.00324)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99300,y=0.11841,z=0.00324)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99296,y=0.11838,z=0.00338)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99296,y=0.11838,z=0.00338)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99296,y=0.11834,z=0.00353)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99296,y=0.11834,z=0.00353)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99299,y=0.11831,z=0.00369)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99299,y=0.11831,z=0.00369)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99301,y=0.11827,z=0.00387)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99301,y=0.11827,z=0.00387)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99298,y=0.11822,z=0.00407)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99298,y=0.11822,z=0.00407)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99300,y=0.11817,z=0.00429)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99300,y=0.11817,z=0.00429)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99303,y=0.11812,z=0.00453)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99303,y=0.11812,z=0.00453)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99302,y=0.11806,z=0.00481)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99302,y=0.11806,z=0.00481)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99301,y=0.11798,z=0.00512)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99301,y=0.11798,z=0.00512)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99299,y=0.11817,z=0.00547)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99299,y=0.11817,z=0.00547)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99301,y=0.11810,z=0.00588)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99301,y=0.11810,z=0.00588)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99299,y=0.11802,z=0.00634)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99299,y=0.11802,z=0.00634)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99300,y=0.11792,z=0.00690)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99300,y=0.11792,z=0.00690)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99298,y=0.11818,z=0.00755)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99298,y=0.11818,z=0.00755)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99296,y=0.11807,z=0.00834)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99296,y=0.11807,z=0.00834)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99296,y=0.11794,z=0.00932)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99296,y=0.11794,z=0.00932)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99292,y=0.11831,z=0.01056)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99292,y=0.11831,z=0.01056)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99293,y=0.11818,z=0.01218)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99293,y=0.11818,z=0.01218)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99288,y=0.11799,z=0.01439)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99288,y=0.11799,z=0.01439)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99280,y=0.11861,z=0.01757)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99280,y=0.11861,z=0.01757)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.99982,y=0.01715,z=0.00327)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.99982,y=0.01715,z=0.00327)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.99984,y=0.01720,z=0.00341)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.99984,y=0.01720,z=0.00341)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.99985,y=0.01726,z=0.00356)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.99985,y=0.01726,z=0.00356)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.99984,y=0.01732,z=0.00372)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.99984,y=0.01732,z=0.00372)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.99988,y=0.01738,z=0.00391)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.99988,y=0.01738,z=0.00391)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.99986,y=0.01745,z=0.00411)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.99986,y=0.01745,z=0.00411)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.99986,y=0.01753,z=0.00433)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.99986,y=0.01753,z=0.00433)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.99986,y=0.01762,z=0.00458)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.99986,y=0.01762,z=0.00458)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.99984,y=0.01772,z=0.00485)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.99984,y=0.01772,z=0.00485)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.99981,y=0.01783,z=0.00517)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.99981,y=0.01783,z=0.00517)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.99984,y=0.01795,z=0.00552)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.99984,y=0.01795,z=0.00552)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.99981,y=0.01810,z=0.00593)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.99981,y=0.01810,z=0.00593)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.99980,y=0.01794,z=0.00641)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.99980,y=0.01794,z=0.00641)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.99982,y=0.01811,z=0.00697)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.99982,y=0.01811,z=0.00697)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.99982,y=0.01794,z=0.00763)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.99982,y=0.01794,z=0.00763)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.99978,y=0.01814,z=0.00844)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.99978,y=0.01814,z=0.00844)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.99981,y=0.01792,z=0.00943)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.99981,y=0.01792,z=0.00943)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.99978,y=0.01818,z=0.01069)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.99978,y=0.01818,z=0.01069)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.99975,y=0.01790,z=0.01234)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.99975,y=0.01790,z=0.01234)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.99970,y=0.01824,z=0.01459)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.99970,y=0.01824,z=0.01459)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.99964,y=0.01785,z=0.01785)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.99964,y=0.01785,z=0.01785)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.07240,y=-0.99733,z=0.00166)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.07240,y=-0.99733,z=0.00166)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.07224,y=-0.99737,z=0.00170)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.07224,y=-0.99737,z=0.00170)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.07207,y=-0.99740,z=0.00174)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.07207,y=-0.99740,z=0.00174)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.07190,y=-0.99743,z=0.00178)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.07190,y=-0.99743,z=0.00178)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.07171,y=-0.99746,z=0.00182)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.07171,y=-0.99746,z=0.00182)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.07151,y=-0.99740,z=0.00186)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.07151,y=-0.99740,z=0.00186)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.07131,y=-0.99743,z=0.00190)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.07131,y=-0.99743,z=0.00190)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.07110,y=-0.99746,z=0.00195)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.07110,y=-0.99746,z=0.00195)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.07088,y=-0.99746,z=0.00200)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.07088,y=-0.99746,z=0.00200)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.07065,y=-0.99750,z=0.00205)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.07065,y=-0.99750,z=0.00205)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.07040,y=-0.99750,z=0.00210)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.07040,y=-0.99750,z=0.00210)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.07015,y=-0.99755,z=0.00216)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.07015,y=-0.99755,z=0.00216)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.06987,y=-0.99752,z=0.00222)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.06987,y=-0.99752,z=0.00222)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.06959,y=-0.99758,z=0.00228)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.06959,y=-0.99758,z=0.00228)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.06928,y=-0.99759,z=0.00235)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.06928,y=-0.99759,z=0.00235)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.06896,y=-0.99758,z=0.00242)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.06896,y=-0.99758,z=0.00242)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.06862,y=-0.99763,z=0.00250)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.06862,y=-0.99763,z=0.00250)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.06825,y=-0.99766,z=0.00258)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.06825,y=-0.99766,z=0.00258)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.06787,y=-0.99771,z=0.00266)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.06787,y=-0.99771,z=0.00266)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.06745,y=-0.99771,z=0.00275)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.06745,y=-0.99771,z=0.00275)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.06700,y=-0.99775,z=0.00285)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.06700,y=-0.99775,z=0.00285)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.06652,y=-0.99776,z=0.00296)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.06652,y=-0.99776,z=0.00296)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.06601,y=-0.99782,z=0.00307)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.06601,y=-0.99782,z=0.00307)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.06545,y=-0.99783,z=0.00319)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.06545,y=-0.99783,z=0.00319)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.06485,y=-0.99791,z=0.00333)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.06485,y=-0.99791,z=0.00333)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.06420,y=-0.99794,z=0.00347)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.06420,y=-0.99794,z=0.00347)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.06349,y=-0.99801,z=0.00363)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.06349,y=-0.99801,z=0.00363)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.06270,y=-0.99803,z=0.00380)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.06270,y=-0.99803,z=0.00380)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.06184,y=-0.99810,z=0.00399)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.06184,y=-0.99810,z=0.00399)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.06089,y=-0.99814,z=0.00420)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.06089,y=-0.99814,z=0.00420)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.05984,y=-0.99822,z=0.00443)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.05984,y=-0.99822,z=0.00443)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.06100,y=-0.99812,z=0.00469)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.06100,y=-0.99812,z=0.00469)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.05982,y=-0.99822,z=0.00498)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.05982,y=-0.99822,z=0.00498)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.06113,y=-0.99812,z=0.00532)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.06113,y=-0.99812,z=0.00532)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.05979,y=-0.99821,z=0.00569)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.05979,y=-0.99821,z=0.00569)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.06130,y=-0.99809,z=0.00613)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.06130,y=-0.99809,z=0.00613)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.05976,y=-0.99819,z=0.00664)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.05976,y=-0.99819,z=0.00664)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.06154,y=-0.99808,z=0.00724)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.06154,y=-0.99808,z=0.00724)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.05971,y=-0.99816,z=0.00796)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.05971,y=-0.99816,z=0.00796)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.06188,y=-0.99806,z=0.00884)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.06188,y=-0.99806,z=0.00884)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.05963,y=-0.99816,z=0.00994)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.05963,y=-0.99816,z=0.00994)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.06240,y=-0.99796,z=0.01135)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.06240,y=-0.99796,z=0.01135)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.05950,y=-0.99815,z=0.01322)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.05950,y=-0.99815,z=0.01322)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.06335,y=-0.99786,z=0.01584)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.06335,y=-0.99786,z=0.01584)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.05925,y=-0.99803,z=0.01975)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.05925,y=-0.99803,z=0.01975)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99406,y=-0.10887,z=0.00286)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99406,y=-0.10887,z=0.00286)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99408,y=-0.10890,z=0.00297)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99408,y=-0.10890,z=0.00297)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99407,y=-0.10892,z=0.00308)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99407,y=-0.10892,z=0.00308)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99405,y=-0.10895,z=0.00321)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99405,y=-0.10895,z=0.00321)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99407,y=-0.10897,z=0.00334)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99407,y=-0.10897,z=0.00334)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99402,y=-0.10900,z=0.00349)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99402,y=-0.10900,z=0.00349)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99408,y=-0.10904,z=0.00365)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99408,y=-0.10904,z=0.00365)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99403,y=-0.10906,z=0.00382)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99403,y=-0.10906,z=0.00382)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99406,y=-0.10910,z=0.00402)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99406,y=-0.10910,z=0.00402)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99405,y=-0.10913,z=0.00423)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99405,y=-0.10913,z=0.00423)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99404,y=-0.10917,z=0.00447)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99404,y=-0.10917,z=0.00447)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99401,y=-0.10920,z=0.00473)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99401,y=-0.10920,z=0.00473)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99402,y=-0.10924,z=0.00503)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99402,y=-0.10924,z=0.00503)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99404,y=-0.10929,z=0.00537)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99404,y=-0.10929,z=0.00537)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99405,y=-0.10934,z=0.00576)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99405,y=-0.10934,z=0.00576)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99402,y=-0.10939,z=0.00621)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99402,y=-0.10939,z=0.00621)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99397,y=-0.10943,z=0.00674)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99397,y=-0.10943,z=0.00674)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99395,y=-0.10949,z=0.00736)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99395,y=-0.10949,z=0.00736)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99396,y=-0.10956,z=0.00811)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99396,y=-0.10956,z=0.00811)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99394,y=-0.10964,z=0.00904)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99394,y=-0.10964,z=0.00904)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99393,y=-0.10972,z=0.01019)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99393,y=-0.10972,z=0.01019)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99385,y=-0.10981,z=0.01169)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99385,y=-0.10981,z=0.01169)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99383,y=-0.10992,z=0.01371)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99383,y=-0.10992,z=0.01371)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99379,y=-0.11006,z=0.01656)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99379,y=-0.11006,z=0.01656)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99934,y=-0.03570,z=0.00678)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99934,y=-0.03570,z=0.00678)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99932,y=-0.03570,z=0.00740)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99932,y=-0.03570,z=0.00740)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99931,y=-0.03570,z=0.00816)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99931,y=-0.03570,z=0.00816)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99933,y=-0.03571,z=0.00908)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99933,y=-0.03571,z=0.00908)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99928,y=-0.03571,z=0.01025)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99928,y=-0.03571,z=0.01025)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99929,y=-0.03571,z=0.01176)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99929,y=-0.03571,z=0.01176)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99924,y=-0.03571,z=0.01378)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99924,y=-0.03571,z=0.01378)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99925,y=-0.03572,z=0.01665)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99925,y=-0.03572,z=0.01665)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99997,y=-0.00489,z=0.00288)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99997,y=-0.00489,z=0.00288)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99998,y=-0.00489,z=0.00298)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99998,y=-0.00489,z=0.00298)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=1.00000,y=-0.00489,z=0.00310)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=1.00000,y=-0.00489,z=0.00310)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=1.00000,y=-0.00489,z=0.00323)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=1.00000,y=-0.00489,z=0.00323)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=1.00000,y=-0.00489,z=0.00336)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=1.00000,y=-0.00489,z=0.00336)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=1.00000,y=-0.00489,z=0.00351)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=1.00000,y=-0.00489,z=0.00351)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=1.00000,y=-0.00489,z=0.00367)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=1.00000,y=-0.00489,z=0.00367)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99996,y=-0.00489,z=0.00385)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99996,y=-0.00489,z=0.00385)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=1.00000,y=-0.00489,z=0.00404)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=1.00000,y=-0.00489,z=0.00404)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99997,y=-0.00489,z=0.00426)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99997,y=-0.00489,z=0.00426)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=1.00000,y=-0.00489,z=0.00449)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=1.00000,y=-0.00489,z=0.00449)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=1.00000,y=-0.00489,z=0.00476)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=1.00000,y=-0.00489,z=0.00476)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=1.00000,y=-0.00489,z=0.00506)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=1.00000,y=-0.00489,z=0.00506)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=1.00000,y=-0.00489,z=0.00541)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=1.00000,y=-0.00489,z=0.00541)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=1.00000,y=-0.00489,z=0.00580)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=1.00000,y=-0.00489,z=0.00580)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=1.00000,y=-0.00489,z=0.00625)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=1.00000,y=-0.00489,z=0.00625)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99996,y=-0.00489,z=0.00678)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99996,y=-0.00489,z=0.00678)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99997,y=-0.00489,z=0.00741)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99997,y=-0.00489,z=0.00741)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99997,y=-0.00489,z=0.00816)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99997,y=-0.00489,z=0.00816)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99994,y=-0.00489,z=0.00909)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99994,y=-0.00489,z=0.00909)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99994,y=-0.00489,z=0.01026)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99994,y=-0.00489,z=0.01026)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99994,y=-0.00489,z=0.01176)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99994,y=-0.00489,z=0.01176)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99986,y=-0.00489,z=0.01379)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99986,y=-0.00489,z=0.01379)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99983,y=-0.00489,z=0.01666)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99983,y=-0.00489,z=0.01666)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.10502,y=0.99444,z=0.00221)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.10502,y=0.99444,z=0.00221)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.10460,y=0.99451,z=0.00227)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.10460,y=0.99451,z=0.00227)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.10416,y=0.99453,z=0.00234)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.10416,y=0.99453,z=0.00234)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.10369,y=0.99464,z=0.00241)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.10369,y=0.99464,z=0.00241)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.10319,y=0.99466,z=0.00249)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.10319,y=0.99466,z=0.00249)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.10265,y=0.99468,z=0.00257)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.10265,y=0.99468,z=0.00257)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.10209,y=0.99481,z=0.00265)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.10209,y=0.99481,z=0.00265)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.10148,y=0.99485,z=0.00274)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.10148,y=0.99485,z=0.00274)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.10083,y=0.99494,z=0.00284)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.10083,y=0.99494,z=0.00284)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.10012,y=0.99496,z=0.00294)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.10012,y=0.99496,z=0.00294)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.09937,y=0.99505,z=0.00306)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.09937,y=0.99505,z=0.00306)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.10013,y=0.99495,z=0.00318)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.10013,y=0.99495,z=0.00318)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.09932,y=0.99503,z=0.00331)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.09932,y=0.99503,z=0.00331)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.10015,y=0.99499,z=0.00345)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.10015,y=0.99499,z=0.00345)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.09926,y=0.99509,z=0.00361)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.09926,y=0.99509,z=0.00361)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.10016,y=0.99499,z=0.00378)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.10016,y=0.99499,z=0.00378)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.09919,y=0.99507,z=0.00397)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.09919,y=0.99507,z=0.00397)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.10019,y=0.99501,z=0.00417)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.10019,y=0.99501,z=0.00417)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.09910,y=0.99509,z=0.00440)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.09910,y=0.99509,z=0.00440)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.10021,y=0.99499,z=0.00466)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.10021,y=0.99499,z=0.00466)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.09899,y=0.99507,z=0.00495)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.09899,y=0.99507,z=0.00495)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.10024,y=0.99498,z=0.00528)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.10024,y=0.99498,z=0.00528)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.09885,y=0.99512,z=0.00565)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.09885,y=0.99512,z=0.00565)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.10027,y=0.99499,z=0.00608)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.10027,y=0.99499,z=0.00608)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.09866,y=0.99509,z=0.00658)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.09866,y=0.99509,z=0.00658)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.10032,y=0.99494,z=0.00717)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.10032,y=0.99494,z=0.00717)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.09840,y=0.99511,z=0.00787)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.09840,y=0.99511,z=0.00787)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.10038,y=0.99489,z=0.00873)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.10038,y=0.99489,z=0.00873)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.09801,y=0.99515,z=0.00980)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.09801,y=0.99515,z=0.00980)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.10049,y=0.99485,z=0.01117)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.10049,y=0.99485,z=0.01117)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.09736,y=0.99520,z=0.01298)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.09736,y=0.99520,z=0.01298)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.10068,y=0.99481,z=0.01549)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.10068,y=0.99481,z=0.01549)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.09608,y=0.99520,z=0.01922)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.09608,y=0.99520,z=0.01922)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.31346,y=0.94959,z=0.00681)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.31346,y=0.94959,z=0.00681)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.31291,y=0.94975,z=0.00745)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.31291,y=0.94975,z=0.00745)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.31225,y=0.94997,z=0.00822)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.31225,y=0.94997,z=0.00822)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.31144,y=0.95021,z=0.00916)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.31144,y=0.95021,z=0.00916)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.31043,y=0.95053,z=0.01035)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.31043,y=0.95053,z=0.01035)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.30913,y=0.95095,z=0.01189)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.30913,y=0.95095,z=0.01189)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.30739,y=0.95145,z=0.01397)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.30739,y=0.95145,z=0.01397)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.30498,y=0.95222,z=0.01694)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.30498,y=0.95222,z=0.01694)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.77053,y=0.63737,z=0.00676)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.77053,y=0.63737,z=0.00676)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.77085,y=0.63697,z=0.00738)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.77085,y=0.63697,z=0.00738)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.77127,y=0.63650,z=0.00812)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.77127,y=0.63650,z=0.00812)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.77172,y=0.63588,z=0.00903)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.77172,y=0.63588,z=0.00903)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.77231,y=0.63512,z=0.01016)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.77231,y=0.63512,z=0.01016)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.77312,y=0.63419,z=0.01163)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.77312,y=0.63419,z=0.01163)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.77414,y=0.63289,z=0.01358)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.77414,y=0.63289,z=0.01358)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.77513,y=0.63153,z=0.01632)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.77513,y=0.63153,z=0.01632)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.99043,y=-0.13780,z=0.00718)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.99043,y=-0.13780,z=0.00718)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.99037,y=-0.13810,z=0.00789)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.99037,y=-0.13810,z=0.00789)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.99040,y=-0.13804,z=0.00876)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.99040,y=-0.13804,z=0.00876)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.99039,y=-0.13796,z=0.00985)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.99039,y=-0.13796,z=0.00985)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.99032,y=-0.13842,z=0.01125)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.99032,y=-0.13842,z=0.01125)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.99029,y=-0.13838,z=0.01312)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.99029,y=-0.13838,z=0.01312)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.99026,y=-0.13832,z=0.01572)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.99026,y=-0.13832,z=0.01572)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.99019,y=-0.13823,z=0.01961)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.99019,y=-0.13823,z=0.01961)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.64124,y=-0.76730,z=0.00729)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.64124,y=-0.76730,z=0.00729)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.64133,y=-0.76719,z=0.00802)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.64133,y=-0.76719,z=0.00802)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.64148,y=-0.76710,z=0.00891)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.64148,y=-0.76710,z=0.00891)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.64164,y=-0.76696,z=0.01003)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.64164,y=-0.76696,z=0.01003)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.64184,y=-0.76677,z=0.01146)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.64184,y=-0.76677,z=0.01146)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.64210,y=-0.76650,z=0.01338)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.64210,y=-0.76650,z=0.01338)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.64231,y=-0.76628,z=0.01606)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.64231,y=-0.76628,z=0.01606)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.12921,y=-0.99160,z=0.00718)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.12921,y=-0.99160,z=0.00718)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.13010,y=-0.99147,z=0.00788)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.13010,y=-0.99147,z=0.00788)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.13118,y=-0.99129,z=0.00875)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.13118,y=-0.99129,z=0.00875)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.13253,y=-0.99112,z=0.00982)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.13253,y=-0.99112,z=0.00982)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.13425,y=-0.99089,z=0.01119)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.13425,y=-0.99089,z=0.01119)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.13652,y=-0.99057,z=0.01300)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.13652,y=-0.99057,z=0.01300)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.13965,y=-0.99007,z=0.01552)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.13965,y=-0.99007,z=0.01552)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.14427,y=-0.98933,z=0.01924)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.14427,y=-0.98933,z=0.01924)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.76412,y=-0.64508,z=0.00724)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.76412,y=-0.64508,z=0.00724)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.76428,y=-0.64486,z=0.00796)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.76428,y=-0.64486,z=0.00796)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.76444,y=-0.64460,z=0.00884)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.76444,y=-0.64460,z=0.00884)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.76469,y=-0.64432,z=0.00993)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.76469,y=-0.64432,z=0.00993)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.76496,y=-0.64399,z=0.01133)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.76496,y=-0.64399,z=0.01133)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.76528,y=-0.64356,z=0.01319)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.76528,y=-0.64356,z=0.01319)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.76571,y=-0.64304,z=0.01579)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.76571,y=-0.64304,z=0.01579)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.76628,y=-0.64230,z=0.01965)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.76628,y=-0.64230,z=0.01965)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.98135,y=0.19203,z=0.00758)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.98135,y=0.19203,z=0.00758)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.98130,y=0.19240,z=0.00839)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.98130,y=0.19240,z=0.00839)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.98117,y=0.19281,z=0.00939)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.98117,y=0.19281,z=0.00939)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.98107,y=0.19328,z=0.01066)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.98107,y=0.19328,z=0.01066)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.98093,y=0.19384,z=0.01234)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.98093,y=0.19384,z=0.01234)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.98083,y=0.19448,z=0.01464)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.98083,y=0.19448,z=0.01464)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.98056,y=0.19530,z=0.01799)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.98056,y=0.19530,z=0.01799)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.64700,y=0.76244,z=0.00703)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.64700,y=0.76244,z=0.00703)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.64740,y=0.76213,z=0.00771)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.64740,y=0.76213,z=0.00771)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.64782,y=0.76170,z=0.00852)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.64782,y=0.76170,z=0.00852)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.64837,y=0.76126,z=0.00953)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.64837,y=0.76126,z=0.00953)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.64903,y=0.76072,z=0.01082)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.64903,y=0.76072,z=0.01082)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.64983,y=0.75999,z=0.01250)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.64983,y=0.75999,z=0.01250)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.65084,y=0.75904,z=0.01479)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.65084,y=0.75904,z=0.01479)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.65223,y=0.75777,z=0.01812)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.65223,y=0.75777,z=0.01812)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.06689,y=-0.99775,z=0.00239)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.06689,y=-0.99775,z=0.00239)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.06649,y=-0.99778,z=0.00246)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.06649,y=-0.99778,z=0.00246)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.06606,y=-0.99778,z=0.00254)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.06606,y=-0.99778,z=0.00254)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.06560,y=-0.99781,z=0.00262)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.06560,y=-0.99781,z=0.00262)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.06512,y=-0.99788,z=0.00271)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.06512,y=-0.99788,z=0.00271)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.06460,y=-0.99792,z=0.00281)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.06460,y=-0.99792,z=0.00281)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.06404,y=-0.99792,z=0.00291)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.06404,y=-0.99792,z=0.00291)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.06345,y=-0.99801,z=0.00302)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.06345,y=-0.99801,z=0.00302)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.06280,y=-0.99802,z=0.00314)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.06280,y=-0.99802,z=0.00314)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.06210,y=-0.99806,z=0.00327)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.06210,y=-0.99806,z=0.00327)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.06134,y=-0.99812,z=0.00341)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.06134,y=-0.99812,z=0.00341)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.06051,y=-0.99812,z=0.00356)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.06051,y=-0.99812,z=0.00356)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.05960,y=-0.99820,z=0.00373)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.05960,y=-0.99820,z=0.00373)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.06056,y=-0.99816,z=0.00391)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.06056,y=-0.99816,z=0.00391)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.05956,y=-0.99822,z=0.00411)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.05956,y=-0.99822,z=0.00411)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.06062,y=-0.99817,z=0.00433)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.06062,y=-0.99817,z=0.00433)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.05951,y=-0.99823,z=0.00458)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.05951,y=-0.99823,z=0.00458)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.06069,y=-0.99817,z=0.00486)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.06069,y=-0.99817,z=0.00486)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.05945,y=-0.99822,z=0.00517)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.05945,y=-0.99822,z=0.00517)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.06079,y=-0.99815,z=0.00553)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.06079,y=-0.99815,z=0.00553)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.05937,y=-0.99825,z=0.00594)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.05937,y=-0.99825,z=0.00594)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.06092,y=-0.99812,z=0.00641)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.06092,y=-0.99812,z=0.00641)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.05926,y=-0.99823,z=0.00697)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.05926,y=-0.99823,z=0.00697)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.06109,y=-0.99809,z=0.00764)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.06109,y=-0.99809,z=0.00764)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.05910,y=-0.99822,z=0.00844)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.05910,y=-0.99822,z=0.00844)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.06135,y=-0.99807,z=0.00944)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.06135,y=-0.99807,z=0.00944)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.05886,y=-0.99823,z=0.01070)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.05886,y=-0.99823,z=0.01070)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.06176,y=-0.99803,z=0.01235)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.06176,y=-0.99803,z=0.01235)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.05844,y=-0.99817,z=0.01461)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.05844,y=-0.99817,z=0.01461)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.06254,y=-0.99786,z=0.01787)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.06254,y=-0.99786,z=0.01787)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.98804,y=0.15432,z=0.00488)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.98804,y=0.15432,z=0.00488)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.98800,y=0.15443,z=0.00520)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.98800,y=0.15443,z=0.00520)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.98804,y=0.15457,z=0.00557)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.98804,y=0.15457,z=0.00557)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.98795,y=0.15470,z=0.00599)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.98795,y=0.15470,z=0.00599)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.98793,y=0.15486,z=0.00648)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.98793,y=0.15486,z=0.00648)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.98790,y=0.15503,z=0.00706)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.98790,y=0.15503,z=0.00706)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.98784,y=0.15519,z=0.00775)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.98784,y=0.15519,z=0.00775)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.98780,y=0.15539,z=0.00859)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.98780,y=0.15539,z=0.00859)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.98775,y=0.15563,z=0.00964)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.98775,y=0.15563,z=0.00964)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.98771,y=0.15589,z=0.01098)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.98771,y=0.15589,z=0.01098)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.98764,y=0.15618,z=0.01274)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.98764,y=0.15618,z=0.01274)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.98754,y=0.15656,z=0.01519)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.98754,y=0.15656,z=0.01519)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.98740,y=0.15704,z=0.01881)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.98740,y=0.15704,z=0.01881)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.12194,y=0.99244,z=0.01219)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.12194,y=0.99244,z=0.01219)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.12228,y=0.99237,z=0.01439)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.12228,y=0.99237,z=0.01439)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.12277,y=0.99228,z=0.01754)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.12277,y=0.99228,z=0.01754)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.35926,y=0.93324,z=0.00647)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.35926,y=0.93324,z=0.00647)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.35919,y=0.93323,z=0.00704)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.35919,y=0.93323,z=0.00704)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.35913,y=0.93327,z=0.00772)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.35913,y=0.93327,z=0.00772)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.35903,y=0.93327,z=0.00855)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.35903,y=0.93327,z=0.00855)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.35894,y=0.93333,z=0.00957)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.35894,y=0.93333,z=0.00957)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.35880,y=0.93336,z=0.01087)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.35880,y=0.93336,z=0.01087)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.35860,y=0.93338,z=0.01258)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.35860,y=0.93338,z=0.01258)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.35837,y=0.93347,z=0.01493)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.35837,y=0.93347,z=0.01493)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.35803,y=0.93353,z=0.01836)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.35803,y=0.93353,z=0.01836)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.10715,y=0.99421,z=0.00714)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.10715,y=0.99421,z=0.00714)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.10591,y=0.99435,z=0.00784)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.10591,y=0.99435,z=0.00784)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.10439,y=0.99452,z=0.00870)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.10439,y=0.99452,z=0.00870)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.10250,y=0.99467,z=0.00976)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.10250,y=0.99467,z=0.00976)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.10010,y=0.99494,z=0.01112)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.10010,y=0.99494,z=0.01112)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.09691,y=0.99522,z=0.01292)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.09691,y=0.99522,z=0.01292)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.10013,y=0.99484,z=0.01541)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.10013,y=0.99484,z=0.01541)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.09543,y=0.99523,z=0.01909)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.09543,y=0.99523,z=0.01909)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.31274,y=0.94983,z=0.00680)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.31274,y=0.94983,z=0.00680)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.31214,y=0.95003,z=0.00743)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.31214,y=0.95003,z=0.00743)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.31141,y=0.95025,z=0.00819)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.31141,y=0.95025,z=0.00819)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.31053,y=0.95054,z=0.00913)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.31053,y=0.95054,z=0.00913)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.30941,y=0.95086,z=0.01031)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.30941,y=0.95086,z=0.01031)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.30799,y=0.95132,z=0.01185)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.30799,y=0.95132,z=0.01185)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.30609,y=0.95193,z=0.01391)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.30609,y=0.95193,z=0.01391)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.30342,y=0.95272,z=0.01686)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.30342,y=0.95272,z=0.01686)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.47177,y=0.88169,z=0.00737)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.47177,y=0.88169,z=0.00737)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.47110,y=0.88201,z=0.00812)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.47110,y=0.88201,z=0.00812)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.47033,y=0.88246,z=0.00904)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.47033,y=0.88246,z=0.00904)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.46937,y=0.88297,z=0.01020)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.46937,y=0.88297,z=0.01020)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.46814,y=0.88361,z=0.01170)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.46814,y=0.88361,z=0.01170)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.46652,y=0.88440,z=0.01372)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.46652,y=0.88440,z=0.01372)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.46431,y=0.88550,z=0.01658)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.46431,y=0.88550,z=0.01658)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.79739,y=0.60347,z=0.00654)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.79739,y=0.60347,z=0.00654)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.79731,y=0.60357,z=0.00712)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.79731,y=0.60357,z=0.00712)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.79719,y=0.60368,z=0.00782)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.79719,y=0.60368,z=0.00782)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.79705,y=0.60385,z=0.00866)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.79705,y=0.60385,z=0.00866)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.79693,y=0.60401,z=0.00972)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.79693,y=0.60401,z=0.00972)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.79677,y=0.60421,z=0.01107)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.79677,y=0.60421,z=0.01107)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.79650,y=0.60444,z=0.01285)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.79650,y=0.60444,z=0.01285)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.79620,y=0.60481,z=0.01531)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.79620,y=0.60481,z=0.01531)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.79576,y=0.60534,z=0.01895)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.79576,y=0.60534,z=0.01895)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.95390,y=0.30014,z=0.00608)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.95390,y=0.30014,z=0.00608)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.95381,y=0.30029,z=0.00658)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.95381,y=0.30029,z=0.00658)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.95377,y=0.30047,z=0.00717)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.95377,y=0.30047,z=0.00717)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.95370,y=0.30069,z=0.00788)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.95370,y=0.30069,z=0.00788)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.95360,y=0.30095,z=0.00875)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.95360,y=0.30095,z=0.00875)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.95351,y=0.30129,z=0.00983)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.95351,y=0.30129,z=0.00983)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.95334,y=0.30171,z=0.01122)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.95334,y=0.30171,z=0.01122)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.95313,y=0.30226,z=0.01306)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.95313,y=0.30226,z=0.01306)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.95305,y=0.30232,z=0.01562)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.95305,y=0.30232,z=0.01562)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.95303,y=0.30244,z=0.01945)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.95303,y=0.30244,z=0.01945)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99304,y=-0.11748,z=0.00887)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99304,y=-0.11748,z=0.00887)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99301,y=-0.11776,z=0.00998)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99301,y=-0.11776,z=0.00998)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99293,y=-0.11812,z=0.01141)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99293,y=-0.11812,z=0.01141)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99294,y=-0.11795,z=0.01333)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99294,y=-0.11795,z=0.01333)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99279,y=-0.11849,z=0.01601)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99279,y=-0.11849,z=0.01601)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> accel: 4
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.99920,y=-0.03917,z=0.00664)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.99920,y=-0.03917,z=0.00664)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.99920,y=-0.03910,z=0.00724)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.99920,y=-0.03910,z=0.00724)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.99921,y=-0.03901,z=0.00796)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.99921,y=-0.03901,z=0.00796)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.99921,y=-0.03891,z=0.00884)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.99921,y=-0.03891,z=0.00884)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.99921,y=-0.03877,z=0.00994)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.99921,y=-0.03877,z=0.00994)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.99920,y=-0.03861,z=0.01136)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.99920,y=-0.03861,z=0.01136)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.99914,y=-0.03838,z=0.01323)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.99914,y=-0.03838,z=0.01323)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.99913,y=-0.03806,z=0.01586)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.99913,y=-0.03806,z=0.01586)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.99911,y=-0.03759,z=0.01978)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.99911,y=-0.03759,z=0.01978)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.93699,y=-0.34934,z=0.00679)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.93699,y=-0.34934,z=0.00679)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.93711,y=-0.34892,z=0.00741)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.93711,y=-0.34892,z=0.00741)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.93727,y=-0.34842,z=0.00815)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.93727,y=-0.34842,z=0.00815)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.93750,y=-0.34783,z=0.00906)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.93750,y=-0.34783,z=0.00906)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.93777,y=-0.34708,z=0.01019)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.93777,y=-0.34708,z=0.01019)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.93811,y=-0.34611,z=0.01165)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.93811,y=-0.34611,z=0.01165)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.93858,y=-0.34483,z=0.01360)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.93858,y=-0.34483,z=0.01360)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.93893,y=-0.34373,z=0.01633)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.93893,y=-0.34373,z=0.01633)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.72292,y=-0.69091,z=0.00753)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.72292,y=-0.69091,z=0.00753)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.72311,y=-0.69069,z=0.00831)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.72311,y=-0.69069,z=0.00831)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.72336,y=-0.69043,z=0.00927)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.72336,y=-0.69043,z=0.00927)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.72364,y=-0.69008,z=0.01049)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.72364,y=-0.69008,z=0.01049)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.72407,y=-0.68967,z=0.01207)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.72407,y=-0.68967,z=0.01207)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.72433,y=-0.68925,z=0.01420)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.72433,y=-0.68925,z=0.01420)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.72476,y=-0.68878,z=0.01726)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.72476,y=-0.68878,z=0.01726)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.53430,y=-0.84526,z=0.00644)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.53430,y=-0.84526,z=0.00644)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.53519,y=-0.84470,z=0.00700)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.53519,y=-0.84470,z=0.00700)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.53623,y=-0.84402,z=0.00766)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.53623,y=-0.84402,z=0.00766)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.53745,y=-0.84325,z=0.00846)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.53745,y=-0.84325,z=0.00846)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.53890,y=-0.84229,z=0.00945)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.53890,y=-0.84229,z=0.00945)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.54071,y=-0.84116,z=0.01071)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.54071,y=-0.84116,z=0.01071)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.53860,y=-0.84251,z=0.01238)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.53860,y=-0.84251,z=0.01238)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.54098,y=-0.84093,z=0.01462)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.54098,y=-0.84093,z=0.01462)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.53792,y=-0.84284,z=0.01793)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.53792,y=-0.84284,z=0.01793)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.16970,y=-0.98548,z=0.00722)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.16970,y=-0.98548,z=0.00722)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.17064,y=-0.98533,z=0.00794)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.17064,y=-0.98533,z=0.00794)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.17177,y=-0.98511,z=0.00881)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.17177,y=-0.98511,z=0.00881)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.17318,y=-0.98485,z=0.00990)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.17318,y=-0.98485,z=0.00990)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.17498,y=-0.98453,z=0.01129)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.17498,y=-0.98453,z=0.01129)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.17735,y=-0.98404,z=0.01314)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.17735,y=-0.98404,z=0.01314)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.18065,y=-0.98342,z=0.01571)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.18065,y=-0.98342,z=0.01571)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.17606,y=-0.98415,z=0.01956)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.17606,y=-0.98415,z=0.01956)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.29747,y=-0.95473,z=0.00692)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.29747,y=-0.95473,z=0.00692)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.29897,y=-0.95424,z=0.00757)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.29897,y=-0.95424,z=0.00757)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.30078,y=-0.95368,z=0.00835)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.30078,y=-0.95368,z=0.00835)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.29873,y=-0.95431,z=0.00934)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.29873,y=-0.95431,z=0.00934)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.30098,y=-0.95359,z=0.01056)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.30098,y=-0.95359,z=0.01056)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.29835,y=-0.95440,z=0.01218)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.29835,y=-0.95440,z=0.01218)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.30133,y=-0.95343,z=0.01435)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.30133,y=-0.95343,z=0.01435)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.29759,y=-0.95448,z=0.01750)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.29759,y=-0.95448,z=0.01750)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.47512,y=-0.87987,z=0.00748)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.47512,y=-0.87987,z=0.00748)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.47473,y=-0.88007,z=0.00826)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.47473,y=-0.88007,z=0.00826)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.47426,y=-0.88033,z=0.00921)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.47426,y=-0.88033,z=0.00921)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.47369,y=-0.88065,z=0.01041)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.47369,y=-0.88065,z=0.01041)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.47294,y=-0.88099,z=0.01197)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.47294,y=-0.88099,z=0.01197)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.47196,y=-0.88151,z=0.01409)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.47196,y=-0.88151,z=0.01409)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.47061,y=-0.88218,z=0.01711)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.47061,y=-0.88218,z=0.01711)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.80188,y=-0.59745,z=0.00660)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.80188,y=-0.59745,z=0.00660)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.80193,y=-0.59735,z=0.00719)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.80193,y=-0.59735,z=0.00719)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.80199,y=-0.59727,z=0.00790)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.80199,y=-0.59727,z=0.00790)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.80207,y=-0.59717,z=0.00877)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.80207,y=-0.59717,z=0.00877)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.80217,y=-0.59705,z=0.00984)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.80217,y=-0.59705,z=0.00984)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.80224,y=-0.59686,z=0.01122)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.80224,y=-0.59686,z=0.01122)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.80235,y=-0.59668,z=0.01305)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.80235,y=-0.59668,z=0.01305)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.80249,y=-0.59642,z=0.01558)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.80249,y=-0.59642,z=0.01558)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.80271,y=-0.59613,z=0.01934)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.80271,y=-0.59613,z=0.01934)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.95540,y=-0.29528,z=0.00610)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.95540,y=-0.29528,z=0.00610)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.95538,y=-0.29539,z=0.00661)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.95538,y=-0.29539,z=0.00661)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.95530,y=-0.29549,z=0.00721)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.95530,y=-0.29549,z=0.00721)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.95525,y=-0.29562,z=0.00793)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.95525,y=-0.29562,z=0.00793)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.95523,y=-0.29578,z=0.00880)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.95523,y=-0.29578,z=0.00880)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.95516,y=-0.29594,z=0.00990)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.95516,y=-0.29594,z=0.00990)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.95507,y=-0.29613,z=0.01130)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.95507,y=-0.29613,z=0.01130)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.95496,y=-0.29635,z=0.01317)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.95496,y=-0.29635,z=0.01317)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.95486,y=-0.29662,z=0.01578)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.95486,y=-0.29662,z=0.01578)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.95472,y=-0.29697,z=0.01969)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.95472,y=-0.29697,z=0.01969)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99257,y=0.12130,z=0.00890)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99257,y=0.12130,z=0.00890)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99253,y=0.12141,z=0.01003)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99253,y=0.12141,z=0.01003)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99254,y=0.12154,z=0.01147)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99254,y=0.12154,z=0.01147)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99249,y=0.12169,z=0.01341)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99249,y=0.12169,z=0.01341)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99241,y=0.12187,z=0.01614)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99241,y=0.12187,z=0.01614)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99198,y=-0.12630,z=0.00666)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99198,y=-0.12630,z=0.00666)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99197,y=-0.12640,z=0.00727)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99197,y=-0.12640,z=0.00727)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99193,y=-0.12649,z=0.00800)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99193,y=-0.12649,z=0.00800)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99190,y=-0.12661,z=0.00890)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99190,y=-0.12661,z=0.00890)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99188,y=-0.12674,z=0.01002)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99188,y=-0.12674,z=0.01002)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99186,y=-0.12688,z=0.01147)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99186,y=-0.12688,z=0.01147)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99182,y=-0.12705,z=0.01340)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99182,y=-0.12705,z=0.01340)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99177,y=-0.12725,z=0.01613)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99177,y=-0.12725,z=0.01613)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.44979,y=0.89311,z=0.00150)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.44979,y=0.89311,z=0.00150)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.44995,y=0.89307,z=0.00153)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.44995,y=0.89307,z=0.00153)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.45010,y=0.89294,z=0.00156)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.45010,y=0.89294,z=0.00156)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.45027,y=0.89289,z=0.00159)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.45027,y=0.89289,z=0.00159)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.45044,y=0.89283,z=0.00163)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.45044,y=0.89283,z=0.00163)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.45059,y=0.89271,z=0.00166)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.45059,y=0.89271,z=0.00166)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.45077,y=0.89264,z=0.00169)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.45077,y=0.89264,z=0.00169)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.45100,y=0.89257,z=0.00173)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.45100,y=0.89257,z=0.00173)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.45117,y=0.89242,z=0.00177)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.45117,y=0.89242,z=0.00177)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.45138,y=0.89238,z=0.00181)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.45138,y=0.89238,z=0.00181)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.45160,y=0.89229,z=0.00185)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.45160,y=0.89229,z=0.00185)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.45179,y=0.89212,z=0.00189)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.45179,y=0.89212,z=0.00189)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.45203,y=0.89204,z=0.00194)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.45203,y=0.89204,z=0.00194)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.45224,y=0.89186,z=0.00199)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.45224,y=0.89186,z=0.00199)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.45252,y=0.89180,z=0.00204)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.45252,y=0.89180,z=0.00204)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.45279,y=0.89167,z=0.00209)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.45279,y=0.89167,z=0.00209)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.45306,y=0.89153,z=0.00215)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.45306,y=0.89153,z=0.00215)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.45333,y=0.89136,z=0.00221)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.45333,y=0.89136,z=0.00221)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.45364,y=0.89122,z=0.00227)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.45364,y=0.89122,z=0.00227)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.45392,y=0.89100,z=0.00233)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.45392,y=0.89100,z=0.00233)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.45428,y=0.89087,z=0.00240)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.45428,y=0.89087,z=0.00240)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.45464,y=0.89071,z=0.00248)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.45464,y=0.89071,z=0.00248)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.45500,y=0.89050,z=0.00256)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.45500,y=0.89050,z=0.00256)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.45540,y=0.89031,z=0.00264)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.45540,y=0.89031,z=0.00264)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.45581,y=0.89008,z=0.00273)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.45581,y=0.89008,z=0.00273)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.45624,y=0.88983,z=0.00282)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.45624,y=0.88983,z=0.00282)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.45674,y=0.88964,z=0.00293)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.45674,y=0.88964,z=0.00293)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.45722,y=0.88934,z=0.00304)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.45722,y=0.88934,z=0.00304)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.45776,y=0.88909,z=0.00316)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.45776,y=0.88909,z=0.00316)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.45834,y=0.88879,z=0.00329)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.45834,y=0.88879,z=0.00329)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.45895,y=0.88844,z=0.00343)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.45895,y=0.88844,z=0.00343)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.45962,y=0.88810,z=0.00358)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.45962,y=0.88810,z=0.00358)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.46034,y=0.88773,z=0.00374)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.46034,y=0.88773,z=0.00374)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.45958,y=0.88812,z=0.00393)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.45958,y=0.88812,z=0.00393)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.46038,y=0.88774,z=0.00413)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.46038,y=0.88774,z=0.00413)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.45954,y=0.88817,z=0.00436)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.45954,y=0.88817,z=0.00436)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.46040,y=0.88767,z=0.00460)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.46040,y=0.88767,z=0.00460)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.45947,y=0.88820,z=0.00489)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.45947,y=0.88820,z=0.00489)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.46047,y=0.88768,z=0.00520)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.46047,y=0.88768,z=0.00520)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.45939,y=0.88824,z=0.00557)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.45939,y=0.88824,z=0.00557)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.46054,y=0.88764,z=0.00598)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.46054,y=0.88764,z=0.00598)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.45928,y=0.88826,z=0.00647)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.45928,y=0.88826,z=0.00647)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.46062,y=0.88756,z=0.00703)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.46062,y=0.88756,z=0.00703)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.45916,y=0.88834,z=0.00772)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.45916,y=0.88834,z=0.00772)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.46077,y=0.88750,z=0.00853)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.46077,y=0.88750,z=0.00853)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.45900,y=0.88837,z=0.00956)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.45900,y=0.88837,z=0.00956)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.46103,y=0.88735,z=0.01085)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.46103,y=0.88735,z=0.01085)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.45872,y=0.88853,z=0.01257)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.45872,y=0.88853,z=0.01257)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.46138,y=0.88704,z=0.01488)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.46138,y=0.88704,z=0.01488)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.45808,y=0.88868,z=0.01832)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.45808,y=0.88868,z=0.01832)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.48208,y=-0.87609,z=0.00334)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.48208,y=-0.87609,z=0.00334)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.48217,y=-0.87609,z=0.00348)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.48217,y=-0.87609,z=0.00348)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.48222,y=-0.87600,z=0.00364)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.48222,y=-0.87600,z=0.00364)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.48232,y=-0.87599,z=0.00381)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.48232,y=-0.87599,z=0.00381)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.48241,y=-0.87594,z=0.00400)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.48241,y=-0.87594,z=0.00400)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.48250,y=-0.87588,z=0.00421)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.48250,y=-0.87588,z=0.00421)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.48263,y=-0.87585,z=0.00445)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.48263,y=-0.87585,z=0.00445)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.48273,y=-0.87575,z=0.00471)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.48273,y=-0.87575,z=0.00471)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.48287,y=-0.87569,z=0.00500)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.48287,y=-0.87569,z=0.00500)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.48302,y=-0.87562,z=0.00534)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.48302,y=-0.87562,z=0.00534)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.48317,y=-0.87551,z=0.00572)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.48317,y=-0.87551,z=0.00572)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.48336,y=-0.87540,z=0.00616)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.48336,y=-0.87540,z=0.00616)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.48356,y=-0.87528,z=0.00667)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.48356,y=-0.87528,z=0.00667)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.48381,y=-0.87516,z=0.00728)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.48381,y=-0.87516,z=0.00728)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.48410,y=-0.87497,z=0.00800)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.48410,y=-0.87497,z=0.00800)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.48444,y=-0.87479,z=0.00889)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.48444,y=-0.87479,z=0.00889)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.48485,y=-0.87454,z=0.01000)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.48485,y=-0.87454,z=0.01000)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.48535,y=-0.87420,z=0.01142)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.48535,y=-0.87420,z=0.01142)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.48605,y=-0.87382,z=0.01332)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.48605,y=-0.87382,z=0.01332)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.48699,y=-0.87330,z=0.01597)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.48699,y=-0.87330,z=0.01597)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.48824,y=-0.87246,z=0.01993)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.48824,y=-0.87246,z=0.01993)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.99008,y=-0.14060,z=0.00428)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.99008,y=-0.14060,z=0.00428)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.99006,y=-0.14069,z=0.00452)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.99006,y=-0.14069,z=0.00452)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.99004,y=-0.14076,z=0.00479)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.99004,y=-0.14076,z=0.00479)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.99002,y=-0.14085,z=0.00510)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.99002,y=-0.14085,z=0.00510)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.99001,y=-0.14095,z=0.00545)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.99001,y=-0.14095,z=0.00545)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.99000,y=-0.14106,z=0.00586)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.99000,y=-0.14106,z=0.00586)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.98999,y=-0.14116,z=0.00633)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.98999,y=-0.14116,z=0.00633)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.98997,y=-0.14128,z=0.00687)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.98997,y=-0.14128,z=0.00687)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.98991,y=-0.14141,z=0.00753)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.98991,y=-0.14141,z=0.00753)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.98989,y=-0.14154,z=0.00832)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.98989,y=-0.14154,z=0.00832)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.98987,y=-0.14170,z=0.00929)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.98987,y=-0.14170,z=0.00929)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.98984,y=-0.14189,z=0.01053)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.98984,y=-0.14189,z=0.01053)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.98980,y=-0.14209,z=0.01214)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.98980,y=-0.14209,z=0.01214)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.98975,y=-0.14237,z=0.01434)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.98975,y=-0.14237,z=0.01434)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.98967,y=-0.14267,z=0.01752)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.98967,y=-0.14267,z=0.01752)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99955,y=-0.03086,z=0.00485)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99955,y=-0.03086,z=0.00485)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99954,y=-0.03086,z=0.00517)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99954,y=-0.03086,z=0.00517)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99955,y=-0.03087,z=0.00552)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99955,y=-0.03087,z=0.00552)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99954,y=-0.03088,z=0.00593)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99954,y=-0.03088,z=0.00593)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99949,y=-0.03088,z=0.00641)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99949,y=-0.03088,z=0.00641)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99951,y=-0.03089,z=0.00697)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99951,y=-0.03089,z=0.00697)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99950,y=-0.03090,z=0.00763)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99950,y=-0.03090,z=0.00763)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99950,y=-0.03091,z=0.00843)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99950,y=-0.03091,z=0.00843)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99947,y=-0.03093,z=0.00943)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99947,y=-0.03093,z=0.00943)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99946,y=-0.03095,z=0.01069)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99946,y=-0.03095,z=0.01069)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99944,y=-0.03097,z=0.01234)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99944,y=-0.03097,z=0.01234)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99942,y=-0.03100,z=0.01459)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99942,y=-0.03100,z=0.01459)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99938,y=-0.03096,z=0.01785)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99938,y=-0.03096,z=0.01785)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.48804,y=-0.87283,z=0.00290)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.48804,y=-0.87283,z=0.00290)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.48828,y=-0.87271,z=0.00300)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.48828,y=-0.87271,z=0.00300)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.48850,y=-0.87252,z=0.00312)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.48850,y=-0.87252,z=0.00312)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.48879,y=-0.87244,z=0.00325)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.48879,y=-0.87244,z=0.00325)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.48905,y=-0.87223,z=0.00338)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.48905,y=-0.87223,z=0.00338)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.48938,y=-0.87210,z=0.00353)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.48938,y=-0.87210,z=0.00353)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.48969,y=-0.87189,z=0.00370)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.48969,y=-0.87189,z=0.00370)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.49004,y=-0.87166,z=0.00387)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.49004,y=-0.87166,z=0.00387)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.49044,y=-0.87147,z=0.00407)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.49044,y=-0.87147,z=0.00407)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.49086,y=-0.87123,z=0.00429)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.49086,y=-0.87123,z=0.00429)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.49133,y=-0.87097,z=0.00453)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.49133,y=-0.87097,z=0.00453)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.49184,y=-0.87067,z=0.00480)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.49184,y=-0.87067,z=0.00480)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.49242,y=-0.87036,z=0.00510)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.49242,y=-0.87036,z=0.00510)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.49306,y=-0.87000,z=0.00545)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.49306,y=-0.87000,z=0.00545)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.49378,y=-0.86959,z=0.00584)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.49378,y=-0.86959,z=0.00584)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.49460,y=-0.86910,z=0.00630)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.49460,y=-0.86910,z=0.00630)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.49554,y=-0.86856,z=0.00683)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.49554,y=-0.86856,z=0.00683)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.49662,y=-0.86793,z=0.00747)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.49662,y=-0.86793,z=0.00747)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.49793,y=-0.86722,z=0.00823)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.49793,y=-0.86722,z=0.00823)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.49945,y=-0.86629,z=0.00916)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.49945,y=-0.86629,z=0.00916)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.50134,y=-0.86521,z=0.01034)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.50134,y=-0.86521,z=0.01034)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.49925,y=-0.86638,z=0.01189)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.49925,y=-0.86638,z=0.01189)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.50174,y=-0.86487,z=0.01394)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.50174,y=-0.86487,z=0.01394)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.49882,y=-0.86650,z=0.01691)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.49882,y=-0.86650,z=0.01691)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.95036,y=-0.31099,z=0.00770)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.95036,y=-0.31099,z=0.00770)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.95027,y=-0.31130,z=0.00852)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.95027,y=-0.31130,z=0.00852)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.95015,y=-0.31164,z=0.00955)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.95015,y=-0.31164,z=0.00955)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.95000,y=-0.31203,z=0.01086)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.95000,y=-0.31203,z=0.01086)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.94987,y=-0.31250,z=0.01258)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.94987,y=-0.31250,z=0.01258)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.94960,y=-0.31304,z=0.01495)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.94960,y=-0.31304,z=0.01495)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.94931,y=-0.31373,z=0.01843)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.94931,y=-0.31373,z=0.01843)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> accel: 4
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99636,y=0.08500,z=0.00714)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99636,y=0.08500,z=0.00714)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99634,y=0.08503,z=0.00785)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99634,y=0.08503,z=0.00785)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99636,y=0.08507,z=0.00870)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99636,y=0.08507,z=0.00870)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99634,y=0.08510,z=0.00977)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99634,y=0.08510,z=0.00977)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99633,y=0.08514,z=0.01113)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99633,y=0.08514,z=0.01113)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99632,y=0.08519,z=0.01294)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99632,y=0.08519,z=0.01294)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99622,y=0.08524,z=0.01545)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99622,y=0.08524,z=0.01545)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99616,y=0.08532,z=0.01916)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99616,y=0.08532,z=0.01916)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.97990,y=0.19940,z=0.00702)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.97990,y=0.19940,z=0.00702)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.97996,y=0.19903,z=0.00769)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.97996,y=0.19903,z=0.00769)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.98006,y=0.19861,z=0.00849)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.98006,y=0.19861,z=0.00849)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.97992,y=0.19907,z=0.00951)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.97992,y=0.19907,z=0.00951)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.98002,y=0.19854,z=0.01077)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.98002,y=0.19854,z=0.01077)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.98015,y=0.19794,z=0.01241)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.98015,y=0.19794,z=0.01241)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.97996,y=0.19864,z=0.01474)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.97996,y=0.19864,z=0.01474)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.98004,y=0.19775,z=0.01798)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.98004,y=0.19775,z=0.01798)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.84373,y=0.53673,z=0.00917)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.84373,y=0.53673,z=0.00917)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.84387,y=0.53650,z=0.01035)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.84387,y=0.53650,z=0.01035)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.84398,y=0.53622,z=0.01189)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.84398,y=0.53622,z=0.01189)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.84414,y=0.53586,z=0.01395)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.84414,y=0.53586,z=0.01395)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.84438,y=0.53542,z=0.01689)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.84438,y=0.53542,z=0.01689)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.66685,y=0.74515,z=0.00745)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.66685,y=0.74515,z=0.00745)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.66610,y=0.74582,z=0.00822)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.66610,y=0.74582,z=0.00822)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.66523,y=0.74662,z=0.00918)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.66523,y=0.74662,z=0.00918)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.66414,y=0.74752,z=0.01038)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.66414,y=0.74752,z=0.01038)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.66280,y=0.74867,z=0.01194)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.66280,y=0.74867,z=0.01194)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.66113,y=0.75017,z=0.01407)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.66113,y=0.75017,z=0.01407)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.65880,y=0.75214,z=0.01711)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.65880,y=0.75214,z=0.01711)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.17523,y=0.98451,z=0.00899)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.17523,y=0.98451,z=0.00899)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.17710,y=0.98417,z=0.01012)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.17710,y=0.98417,z=0.01012)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.17948,y=0.98367,z=0.01158)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.17948,y=0.98367,z=0.01158)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.18267,y=0.98308,z=0.01353)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.18267,y=0.98308,z=0.01353)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.17924,y=0.98362,z=0.01630)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.17924,y=0.98362,z=0.01630)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.51548,y=0.85684,z=0.00874)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.51548,y=0.85684,z=0.00874)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.51509,y=0.85711,z=0.00981)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.51509,y=0.85711,z=0.00981)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.51457,y=0.85738,z=0.01119)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.51457,y=0.85738,z=0.01119)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.51389,y=0.85774,z=0.01301)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.51389,y=0.85774,z=0.01301)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.51298,y=0.85823,z=0.01554)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.51298,y=0.85823,z=0.01554)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.51173,y=0.85894,z=0.01931)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.51173,y=0.85894,z=0.01931)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.89813,y=0.43967,z=0.00748)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.89813,y=0.43967,z=0.00748)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.89849,y=0.43894,z=0.00824)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.89849,y=0.43894,z=0.00824)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.89888,y=0.43811,z=0.00917)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.89888,y=0.43811,z=0.00917)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.89932,y=0.43715,z=0.01034)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.89932,y=0.43715,z=0.01034)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.89989,y=0.43603,z=0.01184)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.89989,y=0.43603,z=0.01184)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.90046,y=0.43464,z=0.01385)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.90046,y=0.43464,z=0.01385)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.89969,y=0.43622,z=0.01682)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.89969,y=0.43622,z=0.01682)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.95264,y=0.30408,z=0.00669)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.95264,y=0.30408,z=0.00669)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.95255,y=0.30427,z=0.00730)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.95255,y=0.30427,z=0.00730)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.95250,y=0.30448,z=0.00804)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.95250,y=0.30448,z=0.00804)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.95243,y=0.30473,z=0.00894)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.95243,y=0.30473,z=0.00894)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.95228,y=0.30498,z=0.01008)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.95228,y=0.30498,z=0.01008)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.95217,y=0.30533,z=0.01154)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.95217,y=0.30533,z=0.01154)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.95206,y=0.30574,z=0.01350)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.95206,y=0.30574,z=0.01350)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.95184,y=0.30622,z=0.01627)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.95184,y=0.30622,z=0.01627)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.17284,y=0.98497,z=0.00372)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.17284,y=0.98497,z=0.00372)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.17344,y=0.98485,z=0.00390)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.17344,y=0.98485,z=0.00390)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.17411,y=0.98470,z=0.00410)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.17411,y=0.98470,z=0.00410)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.17485,y=0.98458,z=0.00432)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.17485,y=0.98458,z=0.00432)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.17567,y=0.98445,z=0.00456)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.17567,y=0.98445,z=0.00456)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.17659,y=0.98429,z=0.00484)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.17659,y=0.98429,z=0.00484)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.17762,y=0.98409,z=0.00515)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.17762,y=0.98409,z=0.00515)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.17880,y=0.98390,z=0.00550)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.17880,y=0.98390,z=0.00550)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.18014,y=0.98365,z=0.00591)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.18014,y=0.98365,z=0.00591)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.17860,y=0.98390,z=0.00638)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.17860,y=0.98390,z=0.00638)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.18016,y=0.98360,z=0.00693)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.18016,y=0.98360,z=0.00693)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.17834,y=0.98395,z=0.00759)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.17834,y=0.98395,z=0.00759)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.18020,y=0.98358,z=0.00838)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.18020,y=0.98358,z=0.00838)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.17795,y=0.98399,z=0.00937)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.17795,y=0.98399,z=0.00937)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.18027,y=0.98356,z=0.01060)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.18027,y=0.98356,z=0.01060)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.17736,y=0.98403,z=0.01223)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.17736,y=0.98403,z=0.01223)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.18039,y=0.98347,z=0.01443)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.18039,y=0.98347,z=0.01443)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.17623,y=0.98422,z=0.01762)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.17623,y=0.98422,z=0.01762)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.98906,y=0.14751,z=0.00339)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.98906,y=0.14751,z=0.00339)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.98904,y=0.14756,z=0.00354)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.98904,y=0.14756,z=0.00354)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.98902,y=0.14761,z=0.00370)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.98902,y=0.14761,z=0.00370)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.98904,y=0.14768,z=0.00389)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.98904,y=0.14768,z=0.00389)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.98901,y=0.14774,z=0.00409)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.98901,y=0.14774,z=0.00409)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.98901,y=0.14781,z=0.00431)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.98901,y=0.14781,z=0.00431)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.98900,y=0.14789,z=0.00456)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.98900,y=0.14789,z=0.00456)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.98896,y=0.14798,z=0.00484)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.98896,y=0.14798,z=0.00484)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.98895,y=0.14809,z=0.00515)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.98895,y=0.14809,z=0.00515)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.98897,y=0.14821,z=0.00551)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.98897,y=0.14821,z=0.00551)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.98894,y=0.14834,z=0.00592)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.98894,y=0.14834,z=0.00592)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.98889,y=0.14849,z=0.00640)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.98889,y=0.14849,z=0.00640)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.98886,y=0.14868,z=0.00696)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.98886,y=0.14868,z=0.00696)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.98881,y=0.14889,z=0.00764)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.98881,y=0.14889,z=0.00764)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.98877,y=0.14916,z=0.00845)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.98877,y=0.14916,z=0.00845)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.98870,y=0.14949,z=0.00946)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.98870,y=0.14949,z=0.00946)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.98867,y=0.14991,z=0.01075)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.98867,y=0.14991,z=0.01075)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.98857,y=0.15046,z=0.01243)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.98857,y=0.15046,z=0.01243)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.98849,y=0.15049,z=0.01475)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.98849,y=0.15049,z=0.01475)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.98839,y=0.15053,z=0.01814)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.98839,y=0.15053,z=0.01814)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.99970,y=0.02480,z=0.00387)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.99970,y=0.02480,z=0.00387)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.99968,y=0.02484,z=0.00407)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.99968,y=0.02484,z=0.00407)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.99971,y=0.02489,z=0.00429)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.99971,y=0.02489,z=0.00429)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.99970,y=0.02494,z=0.00453)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.99970,y=0.02494,z=0.00453)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.99965,y=0.02499,z=0.00481)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.99965,y=0.02499,z=0.00481)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.99967,y=0.02506,z=0.00511)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.99967,y=0.02506,z=0.00511)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.99969,y=0.02513,z=0.00546)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.99969,y=0.02513,z=0.00546)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.99971,y=0.02521,z=0.00586)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.99971,y=0.02521,z=0.00586)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.99967,y=0.02531,z=0.00633)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.99967,y=0.02531,z=0.00633)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.99964,y=0.02542,z=0.00687)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.99964,y=0.02542,z=0.00687)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.99965,y=0.02556,z=0.00752)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.99965,y=0.02556,z=0.00752)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.99962,y=0.02572,z=0.00830)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.99962,y=0.02572,z=0.00830)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.99963,y=0.02592,z=0.00926)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.99963,y=0.02592,z=0.00926)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.99958,y=0.02617,z=0.01047)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.99958,y=0.02617,z=0.01047)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.99959,y=0.02589,z=0.01204)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.99959,y=0.02589,z=0.01204)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.99958,y=0.02623,z=0.01418)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.99958,y=0.02623,z=0.01418)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.99948,y=0.02585,z=0.01723)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.99948,y=0.02585,z=0.01723)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.17989,y=-0.98366,z=0.00395)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.17989,y=-0.98366,z=0.00395)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.18090,y=-0.98351,z=0.00416)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.18090,y=-0.98351,z=0.00416)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.17989,y=-0.98370,z=0.00439)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.17989,y=-0.98370,z=0.00439)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.18101,y=-0.98347,z=0.00464)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.18101,y=-0.98347,z=0.00464)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.17988,y=-0.98367,z=0.00493)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.17988,y=-0.98367,z=0.00493)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.18115,y=-0.98344,z=0.00525)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.18115,y=-0.98344,z=0.00525)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.17987,y=-0.98368,z=0.00562)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.17987,y=-0.98368,z=0.00562)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.18133,y=-0.98342,z=0.00604)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.18133,y=-0.98342,z=0.00604)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.17986,y=-0.98368,z=0.00654)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.17986,y=-0.98368,z=0.00654)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.18157,y=-0.98334,z=0.00712)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.18157,y=-0.98334,z=0.00712)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.17982,y=-0.98367,z=0.00782)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.17982,y=-0.98367,z=0.00782)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.18190,y=-0.98329,z=0.00866)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.18190,y=-0.98329,z=0.00866)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.17977,y=-0.98367,z=0.00972)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.17977,y=-0.98367,z=0.00972)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.18240,y=-0.98314,z=0.01106)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.18240,y=-0.98314,z=0.01106)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.17967,y=-0.98363,z=0.01283)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.17967,y=-0.98363,z=0.01283)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.18329,y=-0.98289,z=0.01527)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.18329,y=-0.98289,z=0.01527)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.17946,y=-0.98356,z=0.01889)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.17946,y=-0.98356,z=0.01889)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.81912,y=-0.57356,z=0.00886)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.81912,y=-0.57356,z=0.00886)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.81987,y=-0.57242,z=0.00994)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.81987,y=-0.57242,z=0.00994)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.82079,y=-0.57110,z=0.01132)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.82079,y=-0.57110,z=0.01132)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.81978,y=-0.57259,z=0.01322)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.81978,y=-0.57259,z=0.01322)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.82097,y=-0.57073,z=0.01579)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.82097,y=-0.57073,z=0.01579)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.81943,y=-0.57291,z=0.01974)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.81943,y=-0.57291,z=0.01974)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.94199,y=-0.33564,z=0.00716)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.94199,y=-0.33564,z=0.00716)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.94176,y=-0.33619,z=0.00788)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.94176,y=-0.33619,z=0.00788)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.94153,y=-0.33685,z=0.00876)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.94153,y=-0.33685,z=0.00876)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.94127,y=-0.33757,z=0.00986)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.94127,y=-0.33757,z=0.00986)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.94094,y=-0.33840,z=0.01127)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.94094,y=-0.33840,z=0.01127)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.94054,y=-0.33938,z=0.01315)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.94054,y=-0.33938,z=0.01315)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.94004,y=-0.34063,z=0.01580)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.94004,y=-0.34063,z=0.01580)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.93947,y=-0.34217,z=0.01978)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.93947,y=-0.34217,z=0.01978)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.80656,y=-0.59109,z=0.00938)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.80656,y=-0.59109,z=0.00938)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.80683,y=-0.59063,z=0.01062)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.80683,y=-0.59063,z=0.01062)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.80725,y=-0.59015,z=0.01223)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.80725,y=-0.59015,z=0.01223)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.80761,y=-0.58948,z=0.01442)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.80761,y=-0.58948,z=0.01442)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.80822,y=-0.58868,z=0.01757)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.80822,y=-0.58868,z=0.01757)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.64773,y=-0.76180,z=0.00753)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.64773,y=-0.76180,z=0.00753)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.64821,y=-0.76140,z=0.00831)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.64821,y=-0.76140,z=0.00831)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.64877,y=-0.76092,z=0.00927)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.64877,y=-0.76092,z=0.00927)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.64941,y=-0.76034,z=0.01047)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.64941,y=-0.76034,z=0.01047)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.65025,y=-0.75964,z=0.01204)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.65025,y=-0.75964,z=0.01204)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.65123,y=-0.75868,z=0.01416)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.65123,y=-0.75868,z=0.01416)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.65264,y=-0.75749,z=0.01717)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.65264,y=-0.75749,z=0.01717)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.17945,y=-0.98371,z=0.00897)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.17945,y=-0.98371,z=0.00897)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.18183,y=-0.98329,z=0.01010)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.18183,y=-0.98329,z=0.01010)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.17929,y=-0.98376,z=0.01157)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.17929,y=-0.98376,z=0.01157)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.18242,y=-0.98311,z=0.01351)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.18242,y=-0.98311,z=0.01351)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.17896,y=-0.98373,z=0.01627)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.17896,y=-0.98373,z=0.01627)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.92611,y=-0.37725,z=0.00384)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.92611,y=-0.37725,z=0.00384)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.92617,y=-0.37715,z=0.00404)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.92617,y=-0.37715,z=0.00404)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.92619,y=-0.37702,z=0.00425)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.92619,y=-0.37702,z=0.00425)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.92628,y=-0.37690,z=0.00449)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.92628,y=-0.37690,z=0.00449)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.92633,y=-0.37678,z=0.00475)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.92633,y=-0.37678,z=0.00475)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.92638,y=-0.37664,z=0.00505)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.92638,y=-0.37664,z=0.00505)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.92643,y=-0.37647,z=0.00539)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.92643,y=-0.37647,z=0.00539)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.92650,y=-0.37632,z=0.00577)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.92650,y=-0.37632,z=0.00577)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.92657,y=-0.37613,z=0.00622)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.92657,y=-0.37613,z=0.00622)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.92661,y=-0.37594,z=0.00674)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.92661,y=-0.37594,z=0.00674)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.92670,y=-0.37572,z=0.00735)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.92670,y=-0.37572,z=0.00735)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.92679,y=-0.37549,z=0.00809)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.92679,y=-0.37549,z=0.00809)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.92688,y=-0.37520,z=0.00900)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.92688,y=-0.37520,z=0.00900)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.92700,y=-0.37491,z=0.01013)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.92700,y=-0.37491,z=0.01013)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.92715,y=-0.37457,z=0.01159)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.92715,y=-0.37457,z=0.01159)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.92724,y=-0.37415,z=0.01354)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.92724,y=-0.37415,z=0.01354)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.92744,y=-0.37366,z=0.01627)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.92744,y=-0.37366,z=0.01627)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.90521,y=-0.42489,z=0.00622)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.90521,y=-0.42489,z=0.00622)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.90498,y=-0.42538,z=0.00675)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.90498,y=-0.42538,z=0.00675)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.90474,y=-0.42593,z=0.00739)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.90474,y=-0.42593,z=0.00739)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.90445,y=-0.42652,z=0.00815)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.90445,y=-0.42652,z=0.00815)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.90414,y=-0.42720,z=0.00909)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.90414,y=-0.42720,z=0.00909)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.90372,y=-0.42797,z=0.01027)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.90372,y=-0.42797,z=0.01027)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.90330,y=-0.42891,z=0.01181)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.90330,y=-0.42891,z=0.01181)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.90272,y=-0.43001,z=0.01389)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.90272,y=-0.43001,z=0.01389)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.90197,y=-0.43138,z=0.01686)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.90197,y=-0.43138,z=0.01686)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.97866,y=0.20541,z=0.00689)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.97866,y=0.20541,z=0.00689)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.97874,y=0.20506,z=0.00753)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.97874,y=0.20506,z=0.00753)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.97881,y=0.20467,z=0.00830)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.97881,y=0.20467,z=0.00830)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.97889,y=0.20423,z=0.00923)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.97889,y=0.20423,z=0.00923)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.97895,y=0.20373,z=0.01041)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.97895,y=0.20373,z=0.01041)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.97905,y=0.20316,z=0.01194)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.97905,y=0.20316,z=0.01194)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.97916,y=0.20250,z=0.01399)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.97916,y=0.20250,z=0.01399)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.97932,y=0.20169,z=0.01689)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.97932,y=0.20169,z=0.01689)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.79935,y=-0.60064,z=0.01480)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.79935,y=-0.60064,z=0.01480)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.79928,y=-0.60069,z=0.01817)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.79928,y=-0.60069,z=0.01817)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.98375,y=0.17943,z=0.00734)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.98375,y=0.17943,z=0.00734)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.98369,y=0.17972,z=0.00810)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.98369,y=0.17972,z=0.00810)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.98362,y=0.18004,z=0.00902)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.98362,y=0.18004,z=0.00902)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.98355,y=0.18041,z=0.01019)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.98355,y=0.18041,z=0.01019)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.98344,y=0.18083,z=0.01171)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.98344,y=0.18083,z=0.01171)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.98335,y=0.18134,z=0.01375)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.98335,y=0.18134,z=0.01375)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.98316,y=0.18194,z=0.01666)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.98316,y=0.18194,z=0.01666)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.85455,y=0.51932,z=0.00886)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.85455,y=0.51932,z=0.00886)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.85505,y=0.51850,z=0.00994)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.85505,y=0.51850,z=0.00994)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.85557,y=0.51753,z=0.01133)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.85557,y=0.51753,z=0.01133)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.85622,y=0.51637,z=0.01317)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.85622,y=0.51637,z=0.01317)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.85706,y=0.51494,z=0.01573)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.85706,y=0.51494,z=0.01573)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.85811,y=0.51311,z=0.01950)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.85811,y=0.51311,z=0.01950)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.43849,y=0.89868,z=0.00750)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.43849,y=0.89868,z=0.00750)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.43837,y=0.89875,z=0.00827)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.43837,y=0.89875,z=0.00827)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.43822,y=0.89880,z=0.00923)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.43822,y=0.89880,z=0.00923)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.43803,y=0.89889,z=0.01043)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.43803,y=0.89889,z=0.01043)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.43778,y=0.89901,z=0.01199)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.43778,y=0.89901,z=0.01199)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.43742,y=0.89911,z=0.01411)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.43742,y=0.89911,z=0.01411)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.43698,y=0.89932,z=0.01714)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.43698,y=0.89932,z=0.01714)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.30356,y=0.95278,z=0.00675)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.30356,y=0.95278,z=0.00675)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.30219,y=0.95324,z=0.00737)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.30219,y=0.95324,z=0.00737)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.30054,y=0.95374,z=0.00812)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.30054,y=0.95374,z=0.00812)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.29853,y=0.95435,z=0.00905)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.29853,y=0.95435,z=0.00905)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.30068,y=0.95367,z=0.01019)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.30068,y=0.95367,z=0.01019)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.29811,y=0.95446,z=0.01169)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.29811,y=0.95446,z=0.01169)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.30092,y=0.95356,z=0.01368)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.30092,y=0.95356,z=0.01368)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.29732,y=0.95466,z=0.01652)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.29732,y=0.95466,z=0.01652)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.07180,y=0.99739,z=0.00684)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.07180,y=0.99739,z=0.00684)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.07104,y=0.99746,z=0.00748)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.07104,y=0.99746,z=0.00748)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.07012,y=0.99749,z=0.00825)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.07012,y=0.99749,z=0.00825)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.06899,y=0.99757,z=0.00920)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.06899,y=0.99757,z=0.00920)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.06756,y=0.99765,z=0.01039)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.06756,y=0.99765,z=0.01039)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.06571,y=0.99779,z=0.01195)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.06571,y=0.99779,z=0.01195)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.06321,y=0.99790,z=0.01405)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.06321,y=0.99790,z=0.01405)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.05965,y=0.99812,z=0.01704)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.05965,y=0.99812,z=0.01704)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.18823,y=0.98210,z=0.00672)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.18823,y=0.98210,z=0.00672)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.18719,y=0.98231,z=0.00734)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.18719,y=0.98231,z=0.00734)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.18594,y=0.98254,z=0.00808)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.18594,y=0.98254,z=0.00808)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.18441,y=0.98281,z=0.00900)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.18441,y=0.98281,z=0.00900)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.18250,y=0.98318,z=0.01014)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.18250,y=0.98318,z=0.01014)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.18003,y=0.98356,z=0.01162)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.18003,y=0.98356,z=0.01162)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.17675,y=0.98416,z=0.01360)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.17675,y=0.98416,z=0.01360)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.18006,y=0.98354,z=0.01637)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.18006,y=0.98354,z=0.01637)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.51336,y=0.85815,z=0.00878)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.51336,y=0.85815,z=0.00878)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.51274,y=0.85850,z=0.00986)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.51274,y=0.85850,z=0.00986)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.51198,y=0.85895,z=0.01125)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.51198,y=0.85895,z=0.01125)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.51097,y=0.85948,z=0.01310)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.51097,y=0.85948,z=0.01310)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.50968,y=0.86027,z=0.01568)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.50968,y=0.86027,z=0.01568)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.50776,y=0.86125,z=0.01953)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.50776,y=0.86125,z=0.01953)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.82018,y=0.57206,z=0.00686)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.82018,y=0.57206,z=0.00686)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.81955,y=0.57293,z=0.00752)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.81955,y=0.57293,z=0.00752)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.82018,y=0.57205,z=0.00828)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.82018,y=0.57205,z=0.00828)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.81940,y=0.57312,z=0.00926)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.81940,y=0.57312,z=0.00926)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.82018,y=0.57204,z=0.01045)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.82018,y=0.57204,z=0.01045)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.81918,y=0.57343,z=0.01205)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.81918,y=0.57343,z=0.01205)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.82013,y=0.57197,z=0.01414)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.82013,y=0.57197,z=0.01414)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.81868,y=0.57394,z=0.01724)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.81868,y=0.57394,z=0.01724)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.98527,y=-0.17090,z=0.00717)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.98527,y=-0.17090,z=0.00717)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.98522,y=-0.17104,z=0.00788)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.98522,y=-0.17104,z=0.00788)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.98521,y=-0.17121,z=0.00876)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.98521,y=-0.17121,z=0.00876)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.98518,y=-0.17142,z=0.00985)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.98518,y=-0.17142,z=0.00985)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.98508,y=-0.17168,z=0.01126)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.98508,y=-0.17168,z=0.01126)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.98504,y=-0.17205,z=0.01313)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.98504,y=-0.17205,z=0.01313)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.98488,y=-0.17255,z=0.01576)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.98488,y=-0.17255,z=0.01576)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.98464,y=-0.17330,z=0.01969)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.98464,y=-0.17330,z=0.01969)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.83937,y=-0.54343,z=0.00959)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.83937,y=-0.54343,z=0.00959)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.83938,y=-0.54341,z=0.01090)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.83938,y=-0.54341,z=0.01090)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.83938,y=-0.54339,z=0.01262)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.83938,y=-0.54339,z=0.01262)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.83940,y=-0.54336,z=0.01499)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.83940,y=-0.54336,z=0.01499)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.83933,y=-0.54326,z=0.01845)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.83933,y=-0.54326,z=0.01845)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.43942,y=-0.89824,z=0.00732)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.43942,y=-0.89824,z=0.00732)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.43944,y=-0.89824,z=0.00806)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.43944,y=-0.89824,z=0.00806)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.43946,y=-0.89821,z=0.00897)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.43946,y=-0.89821,z=0.00897)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.43942,y=-0.89823,z=0.01010)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.43942,y=-0.89823,z=0.01010)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.43936,y=-0.89825,z=0.01156)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.43936,y=-0.89825,z=0.01156)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.43925,y=-0.89823,z=0.01351)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.43925,y=-0.89823,z=0.01351)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.43913,y=-0.89827,z=0.01626)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.43913,y=-0.89827,z=0.01626)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.30728,y=-0.95158,z=0.00661)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.30728,y=-0.95158,z=0.00661)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.30626,y=-0.95195,z=0.00721)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.30626,y=-0.95195,z=0.00721)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.30501,y=-0.95231,z=0.00792)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.30501,y=-0.95231,z=0.00792)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.30352,y=-0.95280,z=0.00880)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.30352,y=-0.95280,z=0.00880)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.30167,y=-0.95337,z=0.00989)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.30167,y=-0.95337,z=0.00989)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.29930,y=-0.95409,z=0.01129)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.29930,y=-0.95409,z=0.01129)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.30217,y=-0.95316,z=0.01314)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.30217,y=-0.95316,z=0.01314)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.29898,y=-0.95413,z=0.01574)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.29898,y=-0.95413,z=0.01574)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.30318,y=-0.95277,z=0.01956)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.30318,y=-0.95277,z=0.01956)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.09820,y=-0.99514,z=0.00727)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.09820,y=-0.99514,z=0.00727)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.10001,y=-0.99495,z=0.00800)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.10001,y=-0.99495,z=0.00800)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.09780,y=-0.99515,z=0.00889)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.09780,y=-0.99515,z=0.00889)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.10001,y=-0.99495,z=0.01000)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.10001,y=-0.99495,z=0.01000)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.09717,y=-0.99519,z=0.01143)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.09717,y=-0.99519,z=0.01143)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.10001,y=-0.99486,z=0.01333)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.10001,y=-0.99486,z=0.01333)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.09605,y=-0.99527,z=0.01601)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.09605,y=-0.99527,z=0.01601)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.19645,y=-0.98049,z=0.00655)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.19645,y=-0.98049,z=0.00655)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.19614,y=-0.98056,z=0.00713)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.19614,y=-0.98056,z=0.00713)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.19577,y=-0.98061,z=0.00783)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.19577,y=-0.98061,z=0.00783)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.19532,y=-0.98069,z=0.00868)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.19532,y=-0.98069,z=0.00868)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.19478,y=-0.98081,z=0.00974)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.19478,y=-0.98081,z=0.00974)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.19408,y=-0.98093,z=0.01109)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.19408,y=-0.98093,z=0.01109)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.19315,y=-0.98107,z=0.01288)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.19315,y=-0.98107,z=0.01288)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.19188,y=-0.98127,z=0.01535)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.19188,y=-0.98127,z=0.01535)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.19001,y=-0.98157,z=0.01900)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.19001,y=-0.98157,z=0.01900)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.54097,y=-0.84100,z=0.00941)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.54097,y=-0.84100,z=0.00941)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.53916,y=-0.84215,z=0.01068)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.53916,y=-0.84215,z=0.01068)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.54121,y=-0.84078,z=0.01230)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.54121,y=-0.84078,z=0.01230)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.53877,y=-0.84230,z=0.01456)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.53877,y=-0.84230,z=0.01456)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.54169,y=-0.84033,z=0.01776)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.54169,y=-0.84033,z=0.01776)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.89736,y=-0.44136,z=0.00508)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.89736,y=-0.44136,z=0.00508)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.89754,y=-0.44088,z=0.00542)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.89754,y=-0.44088,z=0.00542)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.89780,y=-0.44039,z=0.00581)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.89780,y=-0.44039,z=0.00581)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.89805,y=-0.43983,z=0.00626)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.89805,y=-0.43983,z=0.00626)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.89838,y=-0.43922,z=0.00678)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.89838,y=-0.43922,z=0.00678)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.89866,y=-0.43853,z=0.00740)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.89866,y=-0.43853,z=0.00740)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.89903,y=-0.43780,z=0.00814)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.89903,y=-0.43780,z=0.00814)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.89944,y=-0.43695,z=0.00904)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.89944,y=-0.43695,z=0.00904)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.89989,y=-0.43597,z=0.01017)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.89989,y=-0.43597,z=0.01017)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.90043,y=-0.43483,z=0.01162)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.90043,y=-0.43483,z=0.01162)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.89979,y=-0.43613,z=0.01363)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.89979,y=-0.43613,z=0.01363)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.90054,y=-0.43453,z=0.01637)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.90054,y=-0.43453,z=0.01637)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.15411,y=0.98805,z=0.00354)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.15411,y=0.98805,z=0.00354)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.15385,y=0.98812,z=0.00371)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.15385,y=0.98812,z=0.00371)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.15355,y=0.98814,z=0.00389)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.15355,y=0.98814,z=0.00389)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.15322,y=0.98816,z=0.00409)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.15322,y=0.98816,z=0.00409)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.15287,y=0.98823,z=0.00431)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.15287,y=0.98823,z=0.00431)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.15248,y=0.98831,z=0.00455)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.15248,y=0.98831,z=0.00455)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.15203,y=0.98835,z=0.00483)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.15203,y=0.98835,z=0.00483)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.15154,y=0.98845,z=0.00514)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.15154,y=0.98845,z=0.00514)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.15097,y=0.98855,z=0.00549)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.15097,y=0.98855,z=0.00549)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.15032,y=0.98865,z=0.00589)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.15032,y=0.98865,z=0.00589)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.14956,y=0.98874,z=0.00636)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.14956,y=0.98874,z=0.00636)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.14868,y=0.98887,z=0.00692)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.14868,y=0.98887,z=0.00692)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.14763,y=0.98901,z=0.00757)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.14763,y=0.98901,z=0.00757)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.14637,y=0.98921,z=0.00836)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.14637,y=0.98921,z=0.00836)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.14481,y=0.98945,z=0.00934)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.14481,y=0.98945,z=0.00934)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.14284,y=0.98968,z=0.01058)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.14284,y=0.98968,z=0.01058)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.14028,y=0.99005,z=0.01220)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.14028,y=0.99005,z=0.01220)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.13679,y=0.99049,z=0.01440)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.13679,y=0.99049,z=0.01440)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.14040,y=0.99000,z=0.01755)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.14040,y=0.99000,z=0.01755)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99246,y=0.12276,z=0.00279)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99246,y=0.12276,z=0.00279)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99244,y=0.12279,z=0.00289)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99244,y=0.12279,z=0.00289)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99240,y=0.12282,z=0.00300)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99240,y=0.12282,z=0.00300)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99245,y=0.12286,z=0.00312)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99245,y=0.12286,z=0.00312)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99242,y=0.12290,z=0.00324)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99242,y=0.12290,z=0.00324)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99238,y=0.12294,z=0.00338)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99238,y=0.12294,z=0.00338)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99244,y=0.12299,z=0.00353)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99244,y=0.12299,z=0.00353)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99243,y=0.12305,z=0.00370)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99243,y=0.12305,z=0.00370)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99241,y=0.12308,z=0.00388)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99241,y=0.12308,z=0.00388)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99241,y=0.12312,z=0.00408)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99241,y=0.12312,z=0.00408)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99238,y=0.12317,z=0.00430)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99238,y=0.12317,z=0.00430)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99238,y=0.12322,z=0.00454)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99238,y=0.12322,z=0.00454)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99238,y=0.12328,z=0.00482)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99238,y=0.12328,z=0.00482)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99238,y=0.12334,z=0.00513)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99238,y=0.12334,z=0.00513)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99235,y=0.12341,z=0.00548)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99235,y=0.12341,z=0.00548)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99233,y=0.12347,z=0.00589)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99233,y=0.12347,z=0.00589)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99235,y=0.12353,z=0.00636)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99235,y=0.12353,z=0.00636)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99233,y=0.12361,z=0.00692)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99233,y=0.12361,z=0.00692)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99227,y=0.12369,z=0.00757)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99227,y=0.12369,z=0.00757)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99225,y=0.12380,z=0.00837)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99225,y=0.12380,z=0.00837)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99222,y=0.12393,z=0.00936)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99222,y=0.12393,z=0.00936)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99220,y=0.12405,z=0.01061)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99220,y=0.12405,z=0.01061)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99215,y=0.12420,z=0.01225)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99215,y=0.12420,z=0.01225)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99211,y=0.12441,z=0.01448)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99211,y=0.12441,z=0.01448)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99203,y=0.12462,z=0.01772)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99203,y=0.12462,z=0.01772)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.99986,y=0.01786,z=0.00326)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.99986,y=0.01786,z=0.00326)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.99984,y=0.01785,z=0.00340)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.99984,y=0.01785,z=0.00340)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.99983,y=0.01785,z=0.00355)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.99983,y=0.01785,z=0.00355)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.99987,y=0.01784,z=0.00372)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.99987,y=0.01784,z=0.00372)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.99984,y=0.01783,z=0.00390)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.99984,y=0.01783,z=0.00390)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.99981,y=0.01783,z=0.00410)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.99981,y=0.01783,z=0.00410)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.99985,y=0.01782,z=0.00432)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.99985,y=0.01782,z=0.00432)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.99987,y=0.01781,z=0.00457)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.99987,y=0.01781,z=0.00457)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.99987,y=0.01779,z=0.00484)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.99987,y=0.01779,z=0.00484)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.99984,y=0.01781,z=0.00515)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.99984,y=0.01781,z=0.00515)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.99985,y=0.01779,z=0.00551)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.99985,y=0.01779,z=0.00551)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.99984,y=0.01781,z=0.00592)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.99984,y=0.01781,z=0.00592)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.99982,y=0.01779,z=0.00639)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.99982,y=0.01779,z=0.00639)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.99982,y=0.01781,z=0.00694)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.99982,y=0.01781,z=0.00694)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.99982,y=0.01779,z=0.00760)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.99982,y=0.01779,z=0.00760)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.99979,y=0.01781,z=0.00840)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.99979,y=0.01781,z=0.00840)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.99982,y=0.01779,z=0.00939)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.99982,y=0.01779,z=0.00939)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.99978,y=0.01782,z=0.01064)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.99978,y=0.01782,z=0.01064)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.99976,y=0.01779,z=0.01227)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.99976,y=0.01779,z=0.01227)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.99971,y=0.01782,z=0.01449)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.99971,y=0.01782,z=0.01449)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.99964,y=0.01778,z=0.01769)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.99964,y=0.01778,z=0.01769)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.14474,y=0.98946,z=0.00329)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.14474,y=0.98946,z=0.00329)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.14410,y=0.98955,z=0.00343)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.14410,y=0.98955,z=0.00343)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.14341,y=0.98968,z=0.00359)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.14341,y=0.98968,z=0.00359)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.14264,y=0.98978,z=0.00375)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.14264,y=0.98978,z=0.00375)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.14180,y=0.98989,z=0.00394)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.14180,y=0.98989,z=0.00394)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.14088,y=0.99003,z=0.00414)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.14088,y=0.99003,z=0.00414)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.13986,y=0.99018,z=0.00437)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.13986,y=0.99018,z=0.00437)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.14098,y=0.99003,z=0.00462)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.14098,y=0.99003,z=0.00462)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.13984,y=0.99018,z=0.00491)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.13984,y=0.99018,z=0.00491)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.14111,y=0.99000,z=0.00523)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.14111,y=0.99000,z=0.00523)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.13982,y=0.99020,z=0.00559)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.13982,y=0.99020,z=0.00559)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.14127,y=0.98996,z=0.00601)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.14127,y=0.98996,z=0.00601)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.13978,y=0.99017,z=0.00650)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.13978,y=0.99017,z=0.00650)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.14149,y=0.98992,z=0.00707)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.14149,y=0.98992,z=0.00707)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.13972,y=0.99013,z=0.00776)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.13972,y=0.99013,z=0.00776)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.14180,y=0.98986,z=0.00859)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.14180,y=0.98986,z=0.00859)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.13966,y=0.99018,z=0.00963)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.13966,y=0.99018,z=0.00963)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.14226,y=0.98978,z=0.01094)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.14226,y=0.98978,z=0.01094)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.13946,y=0.99017,z=0.01268)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.13946,y=0.99017,z=0.01268)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.14309,y=0.98961,z=0.01506)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.14309,y=0.98961,z=0.01506)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.13918,y=0.99007,z=0.01856)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.13918,y=0.99007,z=0.01856)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99299,y=0.11821,z=0.00289)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99299,y=0.11821,z=0.00289)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99298,y=0.11817,z=0.00300)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99298,y=0.11817,z=0.00300)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99298,y=0.11813,z=0.00311)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99298,y=0.11813,z=0.00311)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99300,y=0.11809,z=0.00324)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99300,y=0.11809,z=0.00324)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99301,y=0.11805,z=0.00338)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99301,y=0.11805,z=0.00338)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99302,y=0.11800,z=0.00353)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99302,y=0.11800,z=0.00353)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99299,y=0.11812,z=0.00369)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99299,y=0.11812,z=0.00369)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99301,y=0.11808,z=0.00387)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99301,y=0.11808,z=0.00387)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99303,y=0.11802,z=0.00407)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99303,y=0.11802,z=0.00407)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99300,y=0.11796,z=0.00429)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99300,y=0.11796,z=0.00429)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99303,y=0.11812,z=0.00453)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99303,y=0.11812,z=0.00453)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99302,y=0.11806,z=0.00481)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99302,y=0.11806,z=0.00481)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99301,y=0.11798,z=0.00512)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99301,y=0.11798,z=0.00512)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99299,y=0.11817,z=0.00547)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99299,y=0.11817,z=0.00547)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99301,y=0.11810,z=0.00588)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99301,y=0.11810,z=0.00588)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99299,y=0.11802,z=0.00634)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99299,y=0.11802,z=0.00634)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99300,y=0.11792,z=0.00690)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99300,y=0.11792,z=0.00690)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99298,y=0.11818,z=0.00755)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99298,y=0.11818,z=0.00755)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99296,y=0.11807,z=0.00834)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99296,y=0.11807,z=0.00834)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99296,y=0.11794,z=0.00932)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99296,y=0.11794,z=0.00932)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99292,y=0.11831,z=0.01056)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99292,y=0.11831,z=0.01056)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99293,y=0.11818,z=0.01218)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99293,y=0.11818,z=0.01218)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99288,y=0.11799,z=0.01439)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99288,y=0.11799,z=0.01439)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99280,y=0.11861,z=0.01757)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99280,y=0.11861,z=0.01757)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.99982,y=0.01715,z=0.00327)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.99982,y=0.01715,z=0.00327)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.99984,y=0.01720,z=0.00341)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.99984,y=0.01720,z=0.00341)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.99985,y=0.01726,z=0.00356)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.99985,y=0.01726,z=0.00356)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.99984,y=0.01732,z=0.00372)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.99984,y=0.01732,z=0.00372)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.99988,y=0.01738,z=0.00391)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.99988,y=0.01738,z=0.00391)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.99986,y=0.01745,z=0.00411)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.99986,y=0.01745,z=0.00411)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.99986,y=0.01753,z=0.00433)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.99986,y=0.01753,z=0.00433)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.99986,y=0.01762,z=0.00458)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.99986,y=0.01762,z=0.00458)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.99984,y=0.01772,z=0.00485)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.99984,y=0.01772,z=0.00485)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.99981,y=0.01783,z=0.00517)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.99981,y=0.01783,z=0.00517)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.99984,y=0.01795,z=0.00552)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.99984,y=0.01795,z=0.00552)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.99981,y=0.01810,z=0.00593)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.99981,y=0.01810,z=0.00593)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.99980,y=0.01794,z=0.00641)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.99980,y=0.01794,z=0.00641)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.99982,y=0.01811,z=0.00697)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.99982,y=0.01811,z=0.00697)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.99982,y=0.01794,z=0.00763)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.99982,y=0.01794,z=0.00763)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.99978,y=0.01814,z=0.00844)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.99978,y=0.01814,z=0.00844)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.99981,y=0.01792,z=0.00943)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.99981,y=0.01792,z=0.00943)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.99978,y=0.01818,z=0.01069)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.99978,y=0.01818,z=0.01069)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.99975,y=0.01790,z=0.01234)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.99975,y=0.01790,z=0.01234)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.99970,y=0.01824,z=0.01459)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.99970,y=0.01824,z=0.01459)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.99964,y=0.01785,z=0.01785)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.99964,y=0.01785,z=0.01785)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.07240,y=-0.99733,z=0.00166)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.07240,y=-0.99733,z=0.00166)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.07224,y=-0.99737,z=0.00170)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.07224,y=-0.99737,z=0.00170)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.07207,y=-0.99740,z=0.00174)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.07207,y=-0.99740,z=0.00174)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.07190,y=-0.99743,z=0.00178)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.07190,y=-0.99743,z=0.00178)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.07171,y=-0.99746,z=0.00182)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.07171,y=-0.99746,z=0.00182)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.07151,y=-0.99740,z=0.00186)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.07151,y=-0.99740,z=0.00186)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.07131,y=-0.99743,z=0.00190)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.07131,y=-0.99743,z=0.00190)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.07110,y=-0.99746,z=0.00195)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.07110,y=-0.99746,z=0.00195)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.07088,y=-0.99746,z=0.00200)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.07088,y=-0.99746,z=0.00200)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.07065,y=-0.99750,z=0.00205)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.07065,y=-0.99750,z=0.00205)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.07040,y=-0.99750,z=0.00210)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.07040,y=-0.99750,z=0.00210)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.07015,y=-0.99755,z=0.00216)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.07015,y=-0.99755,z=0.00216)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.06987,y=-0.99752,z=0.00222)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.06987,y=-0.99752,z=0.00222)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.06959,y=-0.99758,z=0.00228)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.06959,y=-0.99758,z=0.00228)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.06928,y=-0.99759,z=0.00235)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.06928,y=-0.99759,z=0.00235)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.06896,y=-0.99758,z=0.00242)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.06896,y=-0.99758,z=0.00242)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.06862,y=-0.99763,z=0.00250)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.06862,y=-0.99763,z=0.00250)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.06825,y=-0.99766,z=0.00258)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.06825,y=-0.99766,z=0.00258)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.06787,y=-0.99771,z=0.00266)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.06787,y=-0.99771,z=0.00266)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.06745,y=-0.99771,z=0.00275)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.06745,y=-0.99771,z=0.00275)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.06700,y=-0.99775,z=0.00285)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.06700,y=-0.99775,z=0.00285)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.06652,y=-0.99776,z=0.00296)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.06652,y=-0.99776,z=0.00296)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.06601,y=-0.99782,z=0.00307)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.06601,y=-0.99782,z=0.00307)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.06545,y=-0.99783,z=0.00319)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.06545,y=-0.99783,z=0.00319)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.06485,y=-0.99791,z=0.00333)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.06485,y=-0.99791,z=0.00333)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.06420,y=-0.99794,z=0.00347)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.06420,y=-0.99794,z=0.00347)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.06349,y=-0.99801,z=0.00363)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.06349,y=-0.99801,z=0.00363)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.06270,y=-0.99803,z=0.00380)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.06270,y=-0.99803,z=0.00380)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.06184,y=-0.99810,z=0.00399)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.06184,y=-0.99810,z=0.00399)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.06089,y=-0.99814,z=0.00420)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.06089,y=-0.99814,z=0.00420)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.05984,y=-0.99822,z=0.00443)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.05984,y=-0.99822,z=0.00443)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.06100,y=-0.99812,z=0.00469)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.06100,y=-0.99812,z=0.00469)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.05982,y=-0.99822,z=0.00498)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.05982,y=-0.99822,z=0.00498)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.06113,y=-0.99812,z=0.00532)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.06113,y=-0.99812,z=0.00532)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.05979,y=-0.99821,z=0.00569)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.05979,y=-0.99821,z=0.00569)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.06130,y=-0.99809,z=0.00613)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.06130,y=-0.99809,z=0.00613)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.05976,y=-0.99819,z=0.00664)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.05976,y=-0.99819,z=0.00664)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.06154,y=-0.99808,z=0.00724)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.06154,y=-0.99808,z=0.00724)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.05971,y=-0.99816,z=0.00796)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.05971,y=-0.99816,z=0.00796)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.06188,y=-0.99806,z=0.00884)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.06188,y=-0.99806,z=0.00884)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.05963,y=-0.99816,z=0.00994)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.05963,y=-0.99816,z=0.00994)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.06240,y=-0.99796,z=0.01135)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.06240,y=-0.99796,z=0.01135)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.05950,y=-0.99815,z=0.01322)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.05950,y=-0.99815,z=0.01322)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.06335,y=-0.99786,z=0.01584)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.06335,y=-0.99786,z=0.01584)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.05925,y=-0.99803,z=0.01975)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.05925,y=-0.99803,z=0.01975)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99406,y=-0.10887,z=0.00286)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99406,y=-0.10887,z=0.00286)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99408,y=-0.10890,z=0.00297)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99408,y=-0.10890,z=0.00297)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99407,y=-0.10892,z=0.00308)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99407,y=-0.10892,z=0.00308)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99405,y=-0.10895,z=0.00321)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99405,y=-0.10895,z=0.00321)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99407,y=-0.10897,z=0.00334)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99407,y=-0.10897,z=0.00334)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99402,y=-0.10900,z=0.00349)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99402,y=-0.10900,z=0.00349)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99408,y=-0.10904,z=0.00365)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99408,y=-0.10904,z=0.00365)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99403,y=-0.10906,z=0.00382)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99403,y=-0.10906,z=0.00382)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99406,y=-0.10910,z=0.00402)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99406,y=-0.10910,z=0.00402)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99405,y=-0.10913,z=0.00423)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99405,y=-0.10913,z=0.00423)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99404,y=-0.10917,z=0.00447)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99404,y=-0.10917,z=0.00447)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99401,y=-0.10920,z=0.00473)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99401,y=-0.10920,z=0.00473)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99402,y=-0.10924,z=0.00503)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99402,y=-0.10924,z=0.00503)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99404,y=-0.10929,z=0.00537)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99404,y=-0.10929,z=0.00537)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99405,y=-0.10934,z=0.00576)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99405,y=-0.10934,z=0.00576)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99402,y=-0.10939,z=0.00621)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99402,y=-0.10939,z=0.00621)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99397,y=-0.10943,z=0.00674)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99397,y=-0.10943,z=0.00674)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99395,y=-0.10949,z=0.00736)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99395,y=-0.10949,z=0.00736)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99396,y=-0.10956,z=0.00811)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99396,y=-0.10956,z=0.00811)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99394,y=-0.10964,z=0.00904)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99394,y=-0.10964,z=0.00904)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99393,y=-0.10972,z=0.01019)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99393,y=-0.10972,z=0.01019)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99385,y=-0.10981,z=0.01169)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99385,y=-0.10981,z=0.01169)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99383,y=-0.10992,z=0.01371)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99383,y=-0.10992,z=0.01371)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99379,y=-0.11006,z=0.01656)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99379,y=-0.11006,z=0.01656)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99934,y=-0.03570,z=0.00678)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99934,y=-0.03570,z=0.00678)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99932,y=-0.03570,z=0.00740)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99932,y=-0.03570,z=0.00740)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99931,y=-0.03570,z=0.00816)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99931,y=-0.03570,z=0.00816)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99933,y=-0.03571,z=0.00908)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99933,y=-0.03571,z=0.00908)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99928,y=-0.03571,z=0.01025)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99928,y=-0.03571,z=0.01025)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99929,y=-0.03571,z=0.01176)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99929,y=-0.03571,z=0.01176)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99924,y=-0.03571,z=0.01378)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99924,y=-0.03571,z=0.01378)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99925,y=-0.03572,z=0.01665)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99925,y=-0.03572,z=0.01665)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99997,y=-0.00489,z=0.00288)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99997,y=-0.00489,z=0.00288)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99998,y=-0.00489,z=0.00298)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99998,y=-0.00489,z=0.00298)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=1.00000,y=-0.00489,z=0.00310)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=1.00000,y=-0.00489,z=0.00310)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=1.00000,y=-0.00489,z=0.00323)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=1.00000,y=-0.00489,z=0.00323)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=1.00000,y=-0.00489,z=0.00336)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=1.00000,y=-0.00489,z=0.00336)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=1.00000,y=-0.00489,z=0.00351)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=1.00000,y=-0.00489,z=0.00351)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=1.00000,y=-0.00489,z=0.00367)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=1.00000,y=-0.00489,z=0.00367)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99996,y=-0.00489,z=0.00385)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99996,y=-0.00489,z=0.00385)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=1.00000,y=-0.00489,z=0.00404)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=1.00000,y=-0.00489,z=0.00404)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99997,y=-0.00489,z=0.00426)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99997,y=-0.00489,z=0.00426)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=1.00000,y=-0.00489,z=0.00449)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=1.00000,y=-0.00489,z=0.00449)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=1.00000,y=-0.00489,z=0.00476)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=1.00000,y=-0.00489,z=0.00476)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=1.00000,y=-0.00489,z=0.00506)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=1.00000,y=-0.00489,z=0.00506)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=1.00000,y=-0.00489,z=0.00541)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=1.00000,y=-0.00489,z=0.00541)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=1.00000,y=-0.00489,z=0.00580)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=1.00000,y=-0.00489,z=0.00580)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=1.00000,y=-0.00489,z=0.00625)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=1.00000,y=-0.00489,z=0.00625)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99996,y=-0.00489,z=0.00678)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99996,y=-0.00489,z=0.00678)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99997,y=-0.00489,z=0.00741)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99997,y=-0.00489,z=0.00741)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99997,y=-0.00489,z=0.00816)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99997,y=-0.00489,z=0.00816)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99994,y=-0.00489,z=0.00909)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99994,y=-0.00489,z=0.00909)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99994,y=-0.00489,z=0.01026)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99994,y=-0.00489,z=0.01026)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99994,y=-0.00489,z=0.01176)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99994,y=-0.00489,z=0.01176)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99986,y=-0.00489,z=0.01379)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99986,y=-0.00489,z=0.01379)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99983,y=-0.00489,z=0.01666)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99983,y=-0.00489,z=0.01666)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.10502,y=0.99444,z=0.00221)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.10502,y=0.99444,z=0.00221)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.10460,y=0.99451,z=0.00227)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.10460,y=0.99451,z=0.00227)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.10416,y=0.99453,z=0.00234)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.10416,y=0.99453,z=0.00234)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.10369,y=0.99464,z=0.00241)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.10369,y=0.99464,z=0.00241)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.10319,y=0.99466,z=0.00249)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.10319,y=0.99466,z=0.00249)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.10265,y=0.99468,z=0.00257)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.10265,y=0.99468,z=0.00257)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.10209,y=0.99481,z=0.00265)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.10209,y=0.99481,z=0.00265)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.10148,y=0.99485,z=0.00274)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.10148,y=0.99485,z=0.00274)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.10083,y=0.99494,z=0.00284)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.10083,y=0.99494,z=0.00284)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.10012,y=0.99496,z=0.00294)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.10012,y=0.99496,z=0.00294)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.09937,y=0.99505,z=0.00306)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.09937,y=0.99505,z=0.00306)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.10013,y=0.99495,z=0.00318)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.10013,y=0.99495,z=0.00318)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.09932,y=0.99503,z=0.00331)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.09932,y=0.99503,z=0.00331)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.10015,y=0.99499,z=0.00345)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.10015,y=0.99499,z=0.00345)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.09926,y=0.99509,z=0.00361)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.09926,y=0.99509,z=0.00361)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.10016,y=0.99499,z=0.00378)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.10016,y=0.99499,z=0.00378)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.09919,y=0.99507,z=0.00397)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.09919,y=0.99507,z=0.00397)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.10019,y=0.99501,z=0.00417)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.10019,y=0.99501,z=0.00417)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.09910,y=0.99509,z=0.00440)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.09910,y=0.99509,z=0.00440)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.10021,y=0.99499,z=0.00466)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.10021,y=0.99499,z=0.00466)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.09899,y=0.99507,z=0.00495)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.09899,y=0.99507,z=0.00495)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.10024,y=0.99498,z=0.00528)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.10024,y=0.99498,z=0.00528)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.09885,y=0.99512,z=0.00565)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.09885,y=0.99512,z=0.00565)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.10027,y=0.99499,z=0.00608)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.10027,y=0.99499,z=0.00608)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.09866,y=0.99509,z=0.00658)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.09866,y=0.99509,z=0.00658)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.10032,y=0.99494,z=0.00717)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.10032,y=0.99494,z=0.00717)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.09840,y=0.99511,z=0.00787)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.09840,y=0.99511,z=0.00787)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.10038,y=0.99489,z=0.00873)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.10038,y=0.99489,z=0.00873)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.09801,y=0.99515,z=0.00980)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.09801,y=0.99515,z=0.00980)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.10049,y=0.99485,z=0.01117)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.10049,y=0.99485,z=0.01117)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.09736,y=0.99520,z=0.01298)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.09736,y=0.99520,z=0.01298)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.10068,y=0.99481,z=0.01549)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.10068,y=0.99481,z=0.01549)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.09608,y=0.99520,z=0.01922)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.09608,y=0.99520,z=0.01922)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.31346,y=0.94959,z=0.00681)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.31346,y=0.94959,z=0.00681)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.31291,y=0.94975,z=0.00745)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.31291,y=0.94975,z=0.00745)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.31225,y=0.94997,z=0.00822)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.31225,y=0.94997,z=0.00822)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.31144,y=0.95021,z=0.00916)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.31144,y=0.95021,z=0.00916)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.31043,y=0.95053,z=0.01035)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.31043,y=0.95053,z=0.01035)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.30913,y=0.95095,z=0.01189)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.30913,y=0.95095,z=0.01189)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.30739,y=0.95145,z=0.01397)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.30739,y=0.95145,z=0.01397)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.30498,y=0.95222,z=0.01694)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.30498,y=0.95222,z=0.01694)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.77053,y=0.63737,z=0.00676)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.77053,y=0.63737,z=0.00676)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.77085,y=0.63697,z=0.00738)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.77085,y=0.63697,z=0.00738)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.77127,y=0.63650,z=0.00812)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.77127,y=0.63650,z=0.00812)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.77172,y=0.63588,z=0.00903)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.77172,y=0.63588,z=0.00903)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.77231,y=0.63512,z=0.01016)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.77231,y=0.63512,z=0.01016)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.77312,y=0.63419,z=0.01163)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.77312,y=0.63419,z=0.01163)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.77414,y=0.63289,z=0.01358)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.77414,y=0.63289,z=0.01358)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.77513,y=0.63153,z=0.01632)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.77513,y=0.63153,z=0.01632)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.99043,y=-0.13780,z=0.00718)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.99043,y=-0.13780,z=0.00718)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.99037,y=-0.13810,z=0.00789)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.99037,y=-0.13810,z=0.00789)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.99040,y=-0.13804,z=0.00876)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.99040,y=-0.13804,z=0.00876)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.99039,y=-0.13796,z=0.00985)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.99039,y=-0.13796,z=0.00985)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.99032,y=-0.13842,z=0.01125)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.99032,y=-0.13842,z=0.01125)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.99029,y=-0.13838,z=0.01312)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.99029,y=-0.13838,z=0.01312)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.99026,y=-0.13832,z=0.01572)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.99026,y=-0.13832,z=0.01572)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.99019,y=-0.13823,z=0.01961)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.99019,y=-0.13823,z=0.01961)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.64124,y=-0.76730,z=0.00729)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.64124,y=-0.76730,z=0.00729)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.64133,y=-0.76719,z=0.00802)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.64133,y=-0.76719,z=0.00802)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.64148,y=-0.76710,z=0.00891)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.64148,y=-0.76710,z=0.00891)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.64164,y=-0.76696,z=0.01003)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.64164,y=-0.76696,z=0.01003)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.64184,y=-0.76677,z=0.01146)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.64184,y=-0.76677,z=0.01146)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.64210,y=-0.76650,z=0.01338)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.64210,y=-0.76650,z=0.01338)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.64231,y=-0.76628,z=0.01606)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.64231,y=-0.76628,z=0.01606)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.12921,y=-0.99160,z=0.00718)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.12921,y=-0.99160,z=0.00718)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.13010,y=-0.99147,z=0.00788)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.13010,y=-0.99147,z=0.00788)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.13118,y=-0.99129,z=0.00875)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.13118,y=-0.99129,z=0.00875)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.13253,y=-0.99112,z=0.00982)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.13253,y=-0.99112,z=0.00982)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.13425,y=-0.99089,z=0.01119)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.13425,y=-0.99089,z=0.01119)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.13652,y=-0.99057,z=0.01300)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.13652,y=-0.99057,z=0.01300)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.13965,y=-0.99007,z=0.01552)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.13965,y=-0.99007,z=0.01552)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.14427,y=-0.98933,z=0.01924)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.14427,y=-0.98933,z=0.01924)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.76412,y=-0.64508,z=0.00724)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.76412,y=-0.64508,z=0.00724)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.76428,y=-0.64486,z=0.00796)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.76428,y=-0.64486,z=0.00796)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.76444,y=-0.64460,z=0.00884)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.76444,y=-0.64460,z=0.00884)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.76469,y=-0.64432,z=0.00993)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.76469,y=-0.64432,z=0.00993)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.76496,y=-0.64399,z=0.01133)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.76496,y=-0.64399,z=0.01133)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.76528,y=-0.64356,z=0.01319)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.76528,y=-0.64356,z=0.01319)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.76571,y=-0.64304,z=0.01579)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.76571,y=-0.64304,z=0.01579)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.76628,y=-0.64230,z=0.01965)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.76628,y=-0.64230,z=0.01965)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.98135,y=0.19203,z=0.00758)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.98135,y=0.19203,z=0.00758)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.98130,y=0.19240,z=0.00839)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.98130,y=0.19240,z=0.00839)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.98117,y=0.19281,z=0.00939)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.98117,y=0.19281,z=0.00939)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.98107,y=0.19328,z=0.01066)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.98107,y=0.19328,z=0.01066)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.98093,y=0.19384,z=0.01234)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.98093,y=0.19384,z=0.01234)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.98083,y=0.19448,z=0.01464)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.98083,y=0.19448,z=0.01464)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.98056,y=0.19530,z=0.01799)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.98056,y=0.19530,z=0.01799)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.64700,y=0.76244,z=0.00703)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.64700,y=0.76244,z=0.00703)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.64740,y=0.76213,z=0.00771)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.64740,y=0.76213,z=0.00771)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.64782,y=0.76170,z=0.00852)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.64782,y=0.76170,z=0.00852)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.64837,y=0.76126,z=0.00953)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.64837,y=0.76126,z=0.00953)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.64903,y=0.76072,z=0.01082)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.64903,y=0.76072,z=0.01082)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.64983,y=0.75999,z=0.01250)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.64983,y=0.75999,z=0.01250)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.65084,y=0.75904,z=0.01479)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.65084,y=0.75904,z=0.01479)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.65223,y=0.75777,z=0.01812)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.65223,y=0.75777,z=0.01812)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.06689,y=-0.99775,z=0.00239)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.06689,y=-0.99775,z=0.00239)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.06649,y=-0.99778,z=0.00246)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.06649,y=-0.99778,z=0.00246)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.06606,y=-0.99778,z=0.00254)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.06606,y=-0.99778,z=0.00254)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.06560,y=-0.99781,z=0.00262)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.06560,y=-0.99781,z=0.00262)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.06512,y=-0.99788,z=0.00271)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.06512,y=-0.99788,z=0.00271)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.06460,y=-0.99792,z=0.00281)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.06460,y=-0.99792,z=0.00281)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.06404,y=-0.99792,z=0.00291)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.06404,y=-0.99792,z=0.00291)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.06345,y=-0.99801,z=0.00302)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.06345,y=-0.99801,z=0.00302)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.06280,y=-0.99802,z=0.00314)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.06280,y=-0.99802,z=0.00314)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.06210,y=-0.99806,z=0.00327)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.06210,y=-0.99806,z=0.00327)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.06134,y=-0.99812,z=0.00341)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.06134,y=-0.99812,z=0.00341)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.06051,y=-0.99812,z=0.00356)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.06051,y=-0.99812,z=0.00356)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.05960,y=-0.99820,z=0.00373)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.05960,y=-0.99820,z=0.00373)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.06056,y=-0.99816,z=0.00391)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.06056,y=-0.99816,z=0.00391)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.05956,y=-0.99822,z=0.00411)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.05956,y=-0.99822,z=0.00411)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.06062,y=-0.99817,z=0.00433)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.06062,y=-0.99817,z=0.00433)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.05951,y=-0.99823,z=0.00458)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.05951,y=-0.99823,z=0.00458)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.06069,y=-0.99817,z=0.00486)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.06069,y=-0.99817,z=0.00486)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.05945,y=-0.99822,z=0.00517)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.05945,y=-0.99822,z=0.00517)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.06079,y=-0.99815,z=0.00553)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.06079,y=-0.99815,z=0.00553)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.05937,y=-0.99825,z=0.00594)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.05937,y=-0.99825,z=0.00594)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.06092,y=-0.99812,z=0.00641)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.06092,y=-0.99812,z=0.00641)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.05926,y=-0.99823,z=0.00697)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.05926,y=-0.99823,z=0.00697)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.06109,y=-0.99809,z=0.00764)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.06109,y=-0.99809,z=0.00764)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.05910,y=-0.99822,z=0.00844)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.05910,y=-0.99822,z=0.00844)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.06135,y=-0.99807,z=0.00944)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.06135,y=-0.99807,z=0.00944)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.05886,y=-0.99823,z=0.01070)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.05886,y=-0.99823,z=0.01070)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.06176,y=-0.99803,z=0.01235)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.06176,y=-0.99803,z=0.01235)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.05844,y=-0.99817,z=0.01461)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.05844,y=-0.99817,z=0.01461)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.06254,y=-0.99786,z=0.01787)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.06254,y=-0.99786,z=0.01787)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.92090,y=-0.38967,z=0.00898)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.92090,y=-0.38967,z=0.00898)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.92092,y=-0.38963,z=0.01012)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.92092,y=-0.38963,z=0.01012)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.92094,y=-0.38958,z=0.01158)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.92094,y=-0.38958,z=0.01158)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.92091,y=-0.38950,z=0.01354)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.92091,y=-0.38950,z=0.01354)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.92095,y=-0.38944,z=0.01630)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.92095,y=-0.38944,z=0.01630)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.15814,y=0.98740,z=0.00351)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.15814,y=0.98740,z=0.00351)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.15806,y=0.98745,z=0.00368)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.15806,y=0.98745,z=0.00368)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.15796,y=0.98743,z=0.00385)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.15796,y=0.98743,z=0.00385)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.15786,y=0.98746,z=0.00405)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.15786,y=0.98746,z=0.00405)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.15775,y=0.98747,z=0.00426)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.15775,y=0.98747,z=0.00426)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.15763,y=0.98750,z=0.00450)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.15763,y=0.98750,z=0.00450)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.15749,y=0.98748,z=0.00477)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.15749,y=0.98748,z=0.00477)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.15734,y=0.98756,z=0.00508)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.15734,y=0.98756,z=0.00508)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.15717,y=0.98759,z=0.00542)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.15717,y=0.98759,z=0.00542)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.15696,y=0.98758,z=0.00581)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.15696,y=0.98758,z=0.00581)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.15674,y=0.98765,z=0.00627)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.15674,y=0.98765,z=0.00627)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.15646,y=0.98764,z=0.00680)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.15646,y=0.98764,z=0.00680)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.15614,y=0.98770,z=0.00743)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.15614,y=0.98770,z=0.00743)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.15574,y=0.98774,z=0.00820)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.15574,y=0.98774,z=0.00820)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.15527,y=0.98784,z=0.00913)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.15527,y=0.98784,z=0.00913)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.15468,y=0.98794,z=0.01031)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.15468,y=0.98794,z=0.01031)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.15391,y=0.98804,z=0.01184)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.15391,y=0.98804,z=0.01184)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.15286,y=0.98812,z=0.01390)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.15286,y=0.98812,z=0.01390)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.15139,y=0.98831,z=0.01682)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.15139,y=0.98831,z=0.01682)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99167,y=0.12889,z=0.00278)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99167,y=0.12889,z=0.00278)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99168,y=0.12893,z=0.00288)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99168,y=0.12893,z=0.00288)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99162,y=0.12897,z=0.00299)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99162,y=0.12897,z=0.00299)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99166,y=0.12902,z=0.00310)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99166,y=0.12902,z=0.00310)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99161,y=0.12905,z=0.00323)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99161,y=0.12905,z=0.00323)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99164,y=0.12910,z=0.00337)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99164,y=0.12910,z=0.00337)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99162,y=0.12914,z=0.00352)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99162,y=0.12914,z=0.00352)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99165,y=0.12919,z=0.00368)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99165,y=0.12919,z=0.00368)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99161,y=0.12924,z=0.00386)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99161,y=0.12924,z=0.00386)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99159,y=0.12929,z=0.00406)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99159,y=0.12929,z=0.00406)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99161,y=0.12936,z=0.00427)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99161,y=0.12936,z=0.00427)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99161,y=0.12943,z=0.00452)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99161,y=0.12943,z=0.00452)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99157,y=0.12948,z=0.00479)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99157,y=0.12948,z=0.00479)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99160,y=0.12955,z=0.00510)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99160,y=0.12955,z=0.00510)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99157,y=0.12961,z=0.00545)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99157,y=0.12961,z=0.00545)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99154,y=0.12969,z=0.00585)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99154,y=0.12969,z=0.00585)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99152,y=0.12978,z=0.00632)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99152,y=0.12978,z=0.00632)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99150,y=0.12989,z=0.00686)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99150,y=0.12989,z=0.00686)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99148,y=0.12998,z=0.00751)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99148,y=0.12998,z=0.00751)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99144,y=0.13009,z=0.00830)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99144,y=0.13009,z=0.00830)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99142,y=0.13023,z=0.00927)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99142,y=0.13023,z=0.00927)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99140,y=0.13035,z=0.01049)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99140,y=0.13035,z=0.01049)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99136,y=0.13051,z=0.01209)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99136,y=0.13051,z=0.01209)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99131,y=0.13072,z=0.01426)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99131,y=0.13072,z=0.01426)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99122,y=0.13095,z=0.01739)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99122,y=0.13095,z=0.01739)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.99984,y=0.01929,z=0.00327)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.99984,y=0.01929,z=0.00327)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.99983,y=0.01930,z=0.00341)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.99983,y=0.01930,z=0.00341)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.99981,y=0.01930,z=0.00356)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.99981,y=0.01930,z=0.00356)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.99980,y=0.01931,z=0.00373)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.99980,y=0.01931,z=0.00373)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.99982,y=0.01931,z=0.00391)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.99982,y=0.01931,z=0.00391)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.99980,y=0.01932,z=0.00411)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.99980,y=0.01932,z=0.00411)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.99982,y=0.01932,z=0.00434)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.99982,y=0.01932,z=0.00434)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.99984,y=0.01933,z=0.00459)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.99984,y=0.01933,z=0.00459)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.99984,y=0.01934,z=0.00487)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.99984,y=0.01934,z=0.00487)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.99978,y=0.01935,z=0.00518)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.99978,y=0.01935,z=0.00518)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.99979,y=0.01936,z=0.00554)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.99979,y=0.01936,z=0.00554)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.99980,y=0.01937,z=0.00595)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.99980,y=0.01937,z=0.00595)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.99980,y=0.01938,z=0.00643)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.99980,y=0.01938,z=0.00643)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.99980,y=0.01940,z=0.00699)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.99980,y=0.01940,z=0.00699)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.99976,y=0.01938,z=0.00766)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.99976,y=0.01938,z=0.00766)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.99979,y=0.01940,z=0.00847)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.99979,y=0.01940,z=0.00847)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.99976,y=0.01938,z=0.00948)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.99976,y=0.01938,z=0.00948)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.99973,y=0.01940,z=0.01075)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.99973,y=0.01940,z=0.01075)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.99975,y=0.01937,z=0.01242)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.99975,y=0.01937,z=0.01242)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.99971,y=0.01941,z=0.01470)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.99971,y=0.01941,z=0.01470)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.99964,y=0.01936,z=0.01801)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.99964,y=0.01936,z=0.01801)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.14150,y=0.98993,z=0.00329)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.14150,y=0.98993,z=0.00329)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.14072,y=0.99005,z=0.00343)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.14072,y=0.99005,z=0.00343)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.13987,y=0.99015,z=0.00359)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.13987,y=0.99015,z=0.00359)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.14078,y=0.99002,z=0.00375)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.14078,y=0.99002,z=0.00375)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.13986,y=0.99016,z=0.00394)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.13986,y=0.99016,z=0.00394)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.14087,y=0.99006,z=0.00414)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.14087,y=0.99006,z=0.00414)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.13984,y=0.99018,z=0.00437)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.13984,y=0.99018,z=0.00437)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.14096,y=0.99004,z=0.00462)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.14096,y=0.99004,z=0.00462)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.13982,y=0.99016,z=0.00491)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.13982,y=0.99016,z=0.00491)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.14109,y=0.99000,z=0.00523)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.14109,y=0.99000,z=0.00523)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.13978,y=0.99015,z=0.00559)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.13978,y=0.99015,z=0.00559)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.14124,y=0.98997,z=0.00601)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.14124,y=0.98997,z=0.00601)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.13975,y=0.99015,z=0.00650)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.13975,y=0.99015,z=0.00650)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.14146,y=0.98991,z=0.00707)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.14146,y=0.98991,z=0.00707)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.13969,y=0.99014,z=0.00776)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.13969,y=0.99014,z=0.00776)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.14176,y=0.98986,z=0.00859)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.14176,y=0.98986,z=0.00859)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.13962,y=0.99018,z=0.00963)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.13962,y=0.99018,z=0.00963)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.14226,y=0.98978,z=0.01094)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.14226,y=0.98978,z=0.01094)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.13946,y=0.99017,z=0.01268)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.13946,y=0.99017,z=0.01268)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.14309,y=0.98961,z=0.01506)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.14309,y=0.98961,z=0.01506)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.13918,y=0.99007,z=0.01856)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.13918,y=0.99007,z=0.01856)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99299,y=0.11821,z=0.00289)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99299,y=0.11821,z=0.00289)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99298,y=0.11817,z=0.00300)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99298,y=0.11817,z=0.00300)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99298,y=0.11813,z=0.00311)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99298,y=0.11813,z=0.00311)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99300,y=0.11809,z=0.00324)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99300,y=0.11809,z=0.00324)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99301,y=0.11805,z=0.00338)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99301,y=0.11805,z=0.00338)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99302,y=0.11800,z=0.00353)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99302,y=0.11800,z=0.00353)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99299,y=0.11812,z=0.00369)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99299,y=0.11812,z=0.00369)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99301,y=0.11808,z=0.00387)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99301,y=0.11808,z=0.00387)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99303,y=0.11802,z=0.00407)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99303,y=0.11802,z=0.00407)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99300,y=0.11796,z=0.00429)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99300,y=0.11796,z=0.00429)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99303,y=0.11812,z=0.00453)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99303,y=0.11812,z=0.00453)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99302,y=0.11806,z=0.00481)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99302,y=0.11806,z=0.00481)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99301,y=0.11798,z=0.00512)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99301,y=0.11798,z=0.00512)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99299,y=0.11817,z=0.00547)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99299,y=0.11817,z=0.00547)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99301,y=0.11810,z=0.00588)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99301,y=0.11810,z=0.00588)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99299,y=0.11802,z=0.00634)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99299,y=0.11802,z=0.00634)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99300,y=0.11792,z=0.00690)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99300,y=0.11792,z=0.00690)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99298,y=0.11818,z=0.00755)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99298,y=0.11818,z=0.00755)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99296,y=0.11807,z=0.00834)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99296,y=0.11807,z=0.00834)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99296,y=0.11794,z=0.00932)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99296,y=0.11794,z=0.00932)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99292,y=0.11831,z=0.01056)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99292,y=0.11831,z=0.01056)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99293,y=0.11818,z=0.01218)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99293,y=0.11818,z=0.01218)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99288,y=0.11799,z=0.01439)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99288,y=0.11799,z=0.01439)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99280,y=0.11861,z=0.01757)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99280,y=0.11861,z=0.01757)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.99982,y=0.01715,z=0.00327)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.99982,y=0.01715,z=0.00327)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.99984,y=0.01720,z=0.00341)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.99984,y=0.01720,z=0.00341)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.99985,y=0.01726,z=0.00356)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.99985,y=0.01726,z=0.00356)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.99984,y=0.01732,z=0.00372)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.99984,y=0.01732,z=0.00372)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.99988,y=0.01738,z=0.00391)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.99988,y=0.01738,z=0.00391)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.99986,y=0.01745,z=0.00411)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.99986,y=0.01745,z=0.00411)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.99986,y=0.01753,z=0.00433)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.99986,y=0.01753,z=0.00433)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.99986,y=0.01762,z=0.00458)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.99986,y=0.01762,z=0.00458)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.99984,y=0.01772,z=0.00485)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.99984,y=0.01772,z=0.00485)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.99981,y=0.01783,z=0.00517)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.99981,y=0.01783,z=0.00517)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.99984,y=0.01795,z=0.00552)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.99984,y=0.01795,z=0.00552)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.99981,y=0.01810,z=0.00593)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.99981,y=0.01810,z=0.00593)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.99980,y=0.01794,z=0.00641)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.99980,y=0.01794,z=0.00641)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.99982,y=0.01811,z=0.00697)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.99982,y=0.01811,z=0.00697)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.99982,y=0.01794,z=0.00763)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.99982,y=0.01794,z=0.00763)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.99978,y=0.01814,z=0.00844)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.99978,y=0.01814,z=0.00844)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.99981,y=0.01792,z=0.00943)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.99981,y=0.01792,z=0.00943)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.99978,y=0.01818,z=0.01069)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.99978,y=0.01818,z=0.01069)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.99975,y=0.01790,z=0.01234)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.99975,y=0.01790,z=0.01234)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.99970,y=0.01824,z=0.01459)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.99970,y=0.01824,z=0.01459)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.99964,y=0.01785,z=0.01785)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.99964,y=0.01785,z=0.01785)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.07240,y=-0.99733,z=0.00166)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.07240,y=-0.99733,z=0.00166)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.07224,y=-0.99737,z=0.00170)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.07224,y=-0.99737,z=0.00170)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.07207,y=-0.99740,z=0.00174)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.07207,y=-0.99740,z=0.00174)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.07190,y=-0.99743,z=0.00178)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.07190,y=-0.99743,z=0.00178)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.07171,y=-0.99746,z=0.00182)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.07171,y=-0.99746,z=0.00182)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.07151,y=-0.99740,z=0.00186)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.07151,y=-0.99740,z=0.00186)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.07131,y=-0.99743,z=0.00190)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.07131,y=-0.99743,z=0.00190)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.07110,y=-0.99746,z=0.00195)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.07110,y=-0.99746,z=0.00195)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.07088,y=-0.99746,z=0.00200)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.07088,y=-0.99746,z=0.00200)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.07065,y=-0.99750,z=0.00205)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.07065,y=-0.99750,z=0.00205)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.07040,y=-0.99750,z=0.00210)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.07040,y=-0.99750,z=0.00210)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.07015,y=-0.99755,z=0.00216)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.07015,y=-0.99755,z=0.00216)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.06987,y=-0.99752,z=0.00222)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.06987,y=-0.99752,z=0.00222)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.06959,y=-0.99758,z=0.00228)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.06959,y=-0.99758,z=0.00228)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.06928,y=-0.99759,z=0.00235)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.06928,y=-0.99759,z=0.00235)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.06896,y=-0.99758,z=0.00242)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.06896,y=-0.99758,z=0.00242)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.06862,y=-0.99763,z=0.00250)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.06862,y=-0.99763,z=0.00250)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.06825,y=-0.99766,z=0.00258)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.06825,y=-0.99766,z=0.00258)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.06787,y=-0.99771,z=0.00266)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.06787,y=-0.99771,z=0.00266)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.06745,y=-0.99771,z=0.00275)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.06745,y=-0.99771,z=0.00275)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.06700,y=-0.99775,z=0.00285)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.06700,y=-0.99775,z=0.00285)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.06652,y=-0.99776,z=0.00296)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.06652,y=-0.99776,z=0.00296)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.06601,y=-0.99782,z=0.00307)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.06601,y=-0.99782,z=0.00307)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.06545,y=-0.99783,z=0.00319)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.06545,y=-0.99783,z=0.00319)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.06485,y=-0.99791,z=0.00333)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.06485,y=-0.99791,z=0.00333)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.06420,y=-0.99794,z=0.00347)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.06420,y=-0.99794,z=0.00347)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.06349,y=-0.99801,z=0.00363)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.06349,y=-0.99801,z=0.00363)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.06270,y=-0.99803,z=0.00380)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.06270,y=-0.99803,z=0.00380)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.06184,y=-0.99810,z=0.00399)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.06184,y=-0.99810,z=0.00399)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.06089,y=-0.99814,z=0.00420)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.06089,y=-0.99814,z=0.00420)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.05984,y=-0.99822,z=0.00443)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.05984,y=-0.99822,z=0.00443)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.06100,y=-0.99812,z=0.00469)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.06100,y=-0.99812,z=0.00469)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.05982,y=-0.99822,z=0.00498)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.05982,y=-0.99822,z=0.00498)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.06113,y=-0.99812,z=0.00532)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.06113,y=-0.99812,z=0.00532)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.05979,y=-0.99821,z=0.00569)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.05979,y=-0.99821,z=0.00569)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.06130,y=-0.99809,z=0.00613)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.06130,y=-0.99809,z=0.00613)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.05976,y=-0.99819,z=0.00664)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.05976,y=-0.99819,z=0.00664)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.06154,y=-0.99808,z=0.00724)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.06154,y=-0.99808,z=0.00724)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.05971,y=-0.99816,z=0.00796)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.05971,y=-0.99816,z=0.00796)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.06188,y=-0.99806,z=0.00884)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.06188,y=-0.99806,z=0.00884)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.05963,y=-0.99816,z=0.00994)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.05963,y=-0.99816,z=0.00994)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.06240,y=-0.99796,z=0.01135)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.06240,y=-0.99796,z=0.01135)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.05950,y=-0.99815,z=0.01322)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.05950,y=-0.99815,z=0.01322)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.06335,y=-0.99786,z=0.01584)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.06335,y=-0.99786,z=0.01584)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.05925,y=-0.99803,z=0.01975)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.05925,y=-0.99803,z=0.01975)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99406,y=-0.10887,z=0.00286)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99406,y=-0.10887,z=0.00286)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99408,y=-0.10890,z=0.00297)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99408,y=-0.10890,z=0.00297)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99407,y=-0.10892,z=0.00308)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99407,y=-0.10892,z=0.00308)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99405,y=-0.10895,z=0.00321)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99405,y=-0.10895,z=0.00321)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99407,y=-0.10897,z=0.00334)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99407,y=-0.10897,z=0.00334)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99402,y=-0.10900,z=0.00349)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99402,y=-0.10900,z=0.00349)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99408,y=-0.10904,z=0.00365)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99408,y=-0.10904,z=0.00365)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99403,y=-0.10906,z=0.00382)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99403,y=-0.10906,z=0.00382)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99406,y=-0.10910,z=0.00402)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99406,y=-0.10910,z=0.00402)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99405,y=-0.10913,z=0.00423)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99405,y=-0.10913,z=0.00423)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99404,y=-0.10917,z=0.00447)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99404,y=-0.10917,z=0.00447)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99401,y=-0.10920,z=0.00473)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99401,y=-0.10920,z=0.00473)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99402,y=-0.10924,z=0.00503)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99402,y=-0.10924,z=0.00503)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99404,y=-0.10929,z=0.00537)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99404,y=-0.10929,z=0.00537)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99405,y=-0.10934,z=0.00576)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99405,y=-0.10934,z=0.00576)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99402,y=-0.10939,z=0.00621)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99402,y=-0.10939,z=0.00621)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99397,y=-0.10943,z=0.00674)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99397,y=-0.10943,z=0.00674)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99395,y=-0.10949,z=0.00736)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99395,y=-0.10949,z=0.00736)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99396,y=-0.10956,z=0.00811)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99396,y=-0.10956,z=0.00811)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99394,y=-0.10964,z=0.00904)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99394,y=-0.10964,z=0.00904)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99393,y=-0.10972,z=0.01019)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99393,y=-0.10972,z=0.01019)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99385,y=-0.10981,z=0.01169)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99385,y=-0.10981,z=0.01169)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99383,y=-0.10992,z=0.01371)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99383,y=-0.10992,z=0.01371)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99379,y=-0.11006,z=0.01656)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99379,y=-0.11006,z=0.01656)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99934,y=-0.03570,z=0.00678)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99934,y=-0.03570,z=0.00678)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99932,y=-0.03570,z=0.00740)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99932,y=-0.03570,z=0.00740)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99931,y=-0.03570,z=0.00816)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99931,y=-0.03570,z=0.00816)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99933,y=-0.03571,z=0.00908)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99933,y=-0.03571,z=0.00908)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99928,y=-0.03571,z=0.01025)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99928,y=-0.03571,z=0.01025)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99929,y=-0.03571,z=0.01176)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99929,y=-0.03571,z=0.01176)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99924,y=-0.03571,z=0.01378)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99924,y=-0.03571,z=0.01378)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99925,y=-0.03572,z=0.01665)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99925,y=-0.03572,z=0.01665)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99997,y=-0.00489,z=0.00288)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99997,y=-0.00489,z=0.00288)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99998,y=-0.00489,z=0.00298)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99998,y=-0.00489,z=0.00298)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=1.00000,y=-0.00489,z=0.00310)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=1.00000,y=-0.00489,z=0.00310)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=1.00000,y=-0.00489,z=0.00323)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=1.00000,y=-0.00489,z=0.00323)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=1.00000,y=-0.00489,z=0.00336)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=1.00000,y=-0.00489,z=0.00336)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=1.00000,y=-0.00489,z=0.00351)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=1.00000,y=-0.00489,z=0.00351)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=1.00000,y=-0.00489,z=0.00367)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=1.00000,y=-0.00489,z=0.00367)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99996,y=-0.00489,z=0.00385)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99996,y=-0.00489,z=0.00385)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=1.00000,y=-0.00489,z=0.00404)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=1.00000,y=-0.00489,z=0.00404)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99997,y=-0.00489,z=0.00426)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99997,y=-0.00489,z=0.00426)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=1.00000,y=-0.00489,z=0.00449)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=1.00000,y=-0.00489,z=0.00449)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=1.00000,y=-0.00489,z=0.00476)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=1.00000,y=-0.00489,z=0.00476)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=1.00000,y=-0.00489,z=0.00506)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=1.00000,y=-0.00489,z=0.00506)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=1.00000,y=-0.00489,z=0.00541)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=1.00000,y=-0.00489,z=0.00541)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=1.00000,y=-0.00489,z=0.00580)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=1.00000,y=-0.00489,z=0.00580)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=1.00000,y=-0.00489,z=0.00625)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=1.00000,y=-0.00489,z=0.00625)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99996,y=-0.00489,z=0.00678)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99996,y=-0.00489,z=0.00678)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99997,y=-0.00489,z=0.00741)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99997,y=-0.00489,z=0.00741)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99997,y=-0.00489,z=0.00816)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99997,y=-0.00489,z=0.00816)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99994,y=-0.00489,z=0.00909)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99994,y=-0.00489,z=0.00909)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99994,y=-0.00489,z=0.01026)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99994,y=-0.00489,z=0.01026)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99994,y=-0.00489,z=0.01176)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99994,y=-0.00489,z=0.01176)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99986,y=-0.00489,z=0.01379)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99986,y=-0.00489,z=0.01379)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99983,y=-0.00489,z=0.01666)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99983,y=-0.00489,z=0.01666)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.10502,y=0.99444,z=0.00221)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.10502,y=0.99444,z=0.00221)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.10460,y=0.99451,z=0.00227)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.10460,y=0.99451,z=0.00227)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.10416,y=0.99453,z=0.00234)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.10416,y=0.99453,z=0.00234)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.10369,y=0.99464,z=0.00241)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.10369,y=0.99464,z=0.00241)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.10319,y=0.99466,z=0.00249)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.10319,y=0.99466,z=0.00249)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.10265,y=0.99468,z=0.00257)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.10265,y=0.99468,z=0.00257)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.10209,y=0.99481,z=0.00265)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.10209,y=0.99481,z=0.00265)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.10148,y=0.99485,z=0.00274)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.10148,y=0.99485,z=0.00274)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.10083,y=0.99494,z=0.00284)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.10083,y=0.99494,z=0.00284)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.10012,y=0.99496,z=0.00294)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.10012,y=0.99496,z=0.00294)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.09937,y=0.99505,z=0.00306)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.09937,y=0.99505,z=0.00306)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.10013,y=0.99495,z=0.00318)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.10013,y=0.99495,z=0.00318)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.09932,y=0.99503,z=0.00331)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.09932,y=0.99503,z=0.00331)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.10015,y=0.99499,z=0.00345)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.10015,y=0.99499,z=0.00345)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.09926,y=0.99509,z=0.00361)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.09926,y=0.99509,z=0.00361)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.10016,y=0.99499,z=0.00378)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.10016,y=0.99499,z=0.00378)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.09919,y=0.99507,z=0.00397)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.09919,y=0.99507,z=0.00397)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.10019,y=0.99501,z=0.00417)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.10019,y=0.99501,z=0.00417)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.09910,y=0.99509,z=0.00440)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.09910,y=0.99509,z=0.00440)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.10021,y=0.99499,z=0.00466)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.10021,y=0.99499,z=0.00466)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.09899,y=0.99507,z=0.00495)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.09899,y=0.99507,z=0.00495)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.10024,y=0.99498,z=0.00528)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.10024,y=0.99498,z=0.00528)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.09885,y=0.99512,z=0.00565)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.09885,y=0.99512,z=0.00565)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.10027,y=0.99499,z=0.00608)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.10027,y=0.99499,z=0.00608)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.09866,y=0.99509,z=0.00658)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.09866,y=0.99509,z=0.00658)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.10032,y=0.99494,z=0.00717)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.10032,y=0.99494,z=0.00717)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.09840,y=0.99511,z=0.00787)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.09840,y=0.99511,z=0.00787)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.10038,y=0.99489,z=0.00873)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.10038,y=0.99489,z=0.00873)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.09801,y=0.99515,z=0.00980)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.09801,y=0.99515,z=0.00980)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.10049,y=0.99485,z=0.01117)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.10049,y=0.99485,z=0.01117)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.09736,y=0.99520,z=0.01298)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.09736,y=0.99520,z=0.01298)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.10068,y=0.99481,z=0.01549)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.10068,y=0.99481,z=0.01549)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.09608,y=0.99520,z=0.01922)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.09608,y=0.99520,z=0.01922)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.31346,y=0.94959,z=0.00681)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.31346,y=0.94959,z=0.00681)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.31291,y=0.94975,z=0.00745)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.31291,y=0.94975,z=0.00745)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.31225,y=0.94997,z=0.00822)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.31225,y=0.94997,z=0.00822)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.31144,y=0.95021,z=0.00916)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.31144,y=0.95021,z=0.00916)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.31043,y=0.95053,z=0.01035)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.31043,y=0.95053,z=0.01035)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.30913,y=0.95095,z=0.01189)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.30913,y=0.95095,z=0.01189)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.30739,y=0.95145,z=0.01397)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.30739,y=0.95145,z=0.01397)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.30498,y=0.95222,z=0.01694)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.30498,y=0.95222,z=0.01694)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.77053,y=0.63737,z=0.00676)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.77053,y=0.63737,z=0.00676)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.77085,y=0.63697,z=0.00738)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.77085,y=0.63697,z=0.00738)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.77127,y=0.63650,z=0.00812)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.77127,y=0.63650,z=0.00812)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.77172,y=0.63588,z=0.00903)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.77172,y=0.63588,z=0.00903)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.77231,y=0.63512,z=0.01016)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.77231,y=0.63512,z=0.01016)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.77312,y=0.63419,z=0.01163)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.77312,y=0.63419,z=0.01163)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.77414,y=0.63289,z=0.01358)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.77414,y=0.63289,z=0.01358)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.77513,y=0.63153,z=0.01632)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.77513,y=0.63153,z=0.01632)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.99043,y=-0.13780,z=0.00718)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.99043,y=-0.13780,z=0.00718)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.99037,y=-0.13810,z=0.00789)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.99037,y=-0.13810,z=0.00789)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.99040,y=-0.13804,z=0.00876)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.99040,y=-0.13804,z=0.00876)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.99039,y=-0.13796,z=0.00985)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.99039,y=-0.13796,z=0.00985)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.99032,y=-0.13842,z=0.01125)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.99032,y=-0.13842,z=0.01125)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.99029,y=-0.13838,z=0.01312)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.99029,y=-0.13838,z=0.01312)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.99026,y=-0.13832,z=0.01572)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.99026,y=-0.13832,z=0.01572)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.99019,y=-0.13823,z=0.01961)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.99019,y=-0.13823,z=0.01961)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.64124,y=-0.76730,z=0.00729)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.64124,y=-0.76730,z=0.00729)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.64133,y=-0.76719,z=0.00802)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.64133,y=-0.76719,z=0.00802)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.64148,y=-0.76710,z=0.00891)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.64148,y=-0.76710,z=0.00891)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.64164,y=-0.76696,z=0.01003)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.64164,y=-0.76696,z=0.01003)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.64184,y=-0.76677,z=0.01146)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.64184,y=-0.76677,z=0.01146)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.64210,y=-0.76650,z=0.01338)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.64210,y=-0.76650,z=0.01338)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.64231,y=-0.76628,z=0.01606)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.64231,y=-0.76628,z=0.01606)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.12921,y=-0.99160,z=0.00718)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.12921,y=-0.99160,z=0.00718)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.13010,y=-0.99147,z=0.00788)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.13010,y=-0.99147,z=0.00788)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.13118,y=-0.99129,z=0.00875)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.13118,y=-0.99129,z=0.00875)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.13253,y=-0.99112,z=0.00982)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.13253,y=-0.99112,z=0.00982)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.13425,y=-0.99089,z=0.01119)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.13425,y=-0.99089,z=0.01119)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.13652,y=-0.99057,z=0.01300)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.13652,y=-0.99057,z=0.01300)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.13965,y=-0.99007,z=0.01552)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.13965,y=-0.99007,z=0.01552)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.14427,y=-0.98933,z=0.01924)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.14427,y=-0.98933,z=0.01924)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.76412,y=-0.64508,z=0.00724)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.76412,y=-0.64508,z=0.00724)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.76428,y=-0.64486,z=0.00796)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.76428,y=-0.64486,z=0.00796)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.76444,y=-0.64460,z=0.00884)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.76444,y=-0.64460,z=0.00884)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.76469,y=-0.64432,z=0.00993)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.76469,y=-0.64432,z=0.00993)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.76496,y=-0.64399,z=0.01133)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.76496,y=-0.64399,z=0.01133)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.76528,y=-0.64356,z=0.01319)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.76528,y=-0.64356,z=0.01319)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.76571,y=-0.64304,z=0.01579)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.76571,y=-0.64304,z=0.01579)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.76628,y=-0.64230,z=0.01965)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.76628,y=-0.64230,z=0.01965)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.98135,y=0.19203,z=0.00758)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.98135,y=0.19203,z=0.00758)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.98130,y=0.19240,z=0.00839)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.98130,y=0.19240,z=0.00839)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.98117,y=0.19281,z=0.00939)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.98117,y=0.19281,z=0.00939)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.98107,y=0.19328,z=0.01066)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.98107,y=0.19328,z=0.01066)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.98093,y=0.19384,z=0.01234)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.98093,y=0.19384,z=0.01234)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.98083,y=0.19448,z=0.01464)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.98083,y=0.19448,z=0.01464)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.98056,y=0.19530,z=0.01799)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.98056,y=0.19530,z=0.01799)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.64700,y=0.76244,z=0.00703)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.64700,y=0.76244,z=0.00703)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.64740,y=0.76213,z=0.00771)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.64740,y=0.76213,z=0.00771)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.64782,y=0.76170,z=0.00852)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.64782,y=0.76170,z=0.00852)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.64837,y=0.76126,z=0.00953)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.64837,y=0.76126,z=0.00953)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.64903,y=0.76072,z=0.01082)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.64903,y=0.76072,z=0.01082)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.64983,y=0.75999,z=0.01250)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.64983,y=0.75999,z=0.01250)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.65084,y=0.75904,z=0.01479)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.65084,y=0.75904,z=0.01479)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.65223,y=0.75777,z=0.01812)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.65223,y=0.75777,z=0.01812)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.06689,y=-0.99775,z=0.00239)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.06689,y=-0.99775,z=0.00239)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.06649,y=-0.99778,z=0.00246)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.06649,y=-0.99778,z=0.00246)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.06606,y=-0.99778,z=0.00254)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.06606,y=-0.99778,z=0.00254)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.06560,y=-0.99781,z=0.00262)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.06560,y=-0.99781,z=0.00262)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.06512,y=-0.99788,z=0.00271)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.06512,y=-0.99788,z=0.00271)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.06460,y=-0.99792,z=0.00281)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.06460,y=-0.99792,z=0.00281)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.06404,y=-0.99792,z=0.00291)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.06404,y=-0.99792,z=0.00291)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.06345,y=-0.99801,z=0.00302)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.06345,y=-0.99801,z=0.00302)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.06280,y=-0.99802,z=0.00314)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.06280,y=-0.99802,z=0.00314)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.06210,y=-0.99806,z=0.00327)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.06210,y=-0.99806,z=0.00327)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.06134,y=-0.99812,z=0.00341)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.06134,y=-0.99812,z=0.00341)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.06051,y=-0.99812,z=0.00356)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.06051,y=-0.99812,z=0.00356)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.05960,y=-0.99820,z=0.00373)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.05960,y=-0.99820,z=0.00373)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.06056,y=-0.99816,z=0.00391)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.06056,y=-0.99816,z=0.00391)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.05956,y=-0.99822,z=0.00411)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.05956,y=-0.99822,z=0.00411)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.06062,y=-0.99817,z=0.00433)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.06062,y=-0.99817,z=0.00433)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.05951,y=-0.99823,z=0.00458)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.05951,y=-0.99823,z=0.00458)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.06069,y=-0.99817,z=0.00486)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.06069,y=-0.99817,z=0.00486)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.05945,y=-0.99822,z=0.00517)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.05945,y=-0.99822,z=0.00517)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.06079,y=-0.99815,z=0.00553)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.06079,y=-0.99815,z=0.00553)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.05937,y=-0.99825,z=0.00594)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.05937,y=-0.99825,z=0.00594)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.06092,y=-0.99812,z=0.00641)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.06092,y=-0.99812,z=0.00641)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.05926,y=-0.99823,z=0.00697)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.05926,y=-0.99823,z=0.00697)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.06109,y=-0.99809,z=0.00764)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.06109,y=-0.99809,z=0.00764)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.05910,y=-0.99822,z=0.00844)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.05910,y=-0.99822,z=0.00844)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.06135,y=-0.99807,z=0.00944)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.06135,y=-0.99807,z=0.00944)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.05886,y=-0.99823,z=0.01070)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.05886,y=-0.99823,z=0.01070)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.06176,y=-0.99803,z=0.01235)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.06176,y=-0.99803,z=0.01235)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.05844,y=-0.99817,z=0.01461)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.05844,y=-0.99817,z=0.01461)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.06254,y=-0.99786,z=0.01787)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.06254,y=-0.99786,z=0.01787)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.98804,y=0.15432,z=0.00488)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.98804,y=0.15432,z=0.00488)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.98800,y=0.15443,z=0.00520)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.98800,y=0.15443,z=0.00520)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.98804,y=0.15457,z=0.00557)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.98804,y=0.15457,z=0.00557)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.98795,y=0.15470,z=0.00599)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.98795,y=0.15470,z=0.00599)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.98793,y=0.15486,z=0.00648)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.98793,y=0.15486,z=0.00648)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.98790,y=0.15503,z=0.00706)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.98790,y=0.15503,z=0.00706)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.98784,y=0.15519,z=0.00775)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.98784,y=0.15519,z=0.00775)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.98780,y=0.15539,z=0.00859)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.98780,y=0.15539,z=0.00859)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.98775,y=0.15563,z=0.00964)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.98775,y=0.15563,z=0.00964)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.98771,y=0.15589,z=0.01098)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.98771,y=0.15589,z=0.01098)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.98764,y=0.15618,z=0.01274)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.98764,y=0.15618,z=0.01274)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.98754,y=0.15656,z=0.01519)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.98754,y=0.15656,z=0.01519)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.98740,y=0.15704,z=0.01881)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.98740,y=0.15704,z=0.01881)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.12194,y=0.99244,z=0.01219)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.12194,y=0.99244,z=0.01219)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.12228,y=0.99237,z=0.01439)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.12228,y=0.99237,z=0.01439)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.12277,y=0.99228,z=0.01754)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.12277,y=0.99228,z=0.01754)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.35926,y=0.93324,z=0.00647)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.35926,y=0.93324,z=0.00647)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.35919,y=0.93323,z=0.00704)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.35919,y=0.93323,z=0.00704)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.35913,y=0.93327,z=0.00772)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.35913,y=0.93327,z=0.00772)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.35903,y=0.93327,z=0.00855)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.35903,y=0.93327,z=0.00855)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.35894,y=0.93333,z=0.00957)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.35894,y=0.93333,z=0.00957)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.35880,y=0.93336,z=0.01087)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.35880,y=0.93336,z=0.01087)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.35860,y=0.93338,z=0.01258)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.35860,y=0.93338,z=0.01258)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.35837,y=0.93347,z=0.01493)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.35837,y=0.93347,z=0.01493)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.35803,y=0.93353,z=0.01836)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.35803,y=0.93353,z=0.01836)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.10715,y=0.99421,z=0.00714)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.10715,y=0.99421,z=0.00714)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.10591,y=0.99435,z=0.00784)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.10591,y=0.99435,z=0.00784)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.10439,y=0.99452,z=0.00870)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.10439,y=0.99452,z=0.00870)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.10250,y=0.99467,z=0.00976)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.10250,y=0.99467,z=0.00976)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.10010,y=0.99494,z=0.01112)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.10010,y=0.99494,z=0.01112)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.09691,y=0.99522,z=0.01292)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.09691,y=0.99522,z=0.01292)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.10013,y=0.99484,z=0.01541)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.10013,y=0.99484,z=0.01541)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.09543,y=0.99523,z=0.01909)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.09543,y=0.99523,z=0.01909)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.31274,y=0.94983,z=0.00680)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.31274,y=0.94983,z=0.00680)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.31214,y=0.95003,z=0.00743)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.31214,y=0.95003,z=0.00743)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.31141,y=0.95025,z=0.00819)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.31141,y=0.95025,z=0.00819)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.31053,y=0.95054,z=0.00913)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.31053,y=0.95054,z=0.00913)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.30941,y=0.95086,z=0.01031)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.30941,y=0.95086,z=0.01031)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.30799,y=0.95132,z=0.01185)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.30799,y=0.95132,z=0.01185)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.30609,y=0.95193,z=0.01391)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.30609,y=0.95193,z=0.01391)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.30342,y=0.95272,z=0.01686)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.30342,y=0.95272,z=0.01686)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.47177,y=0.88169,z=0.00737)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.47177,y=0.88169,z=0.00737)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.47110,y=0.88201,z=0.00812)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.47110,y=0.88201,z=0.00812)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.47033,y=0.88246,z=0.00904)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.47033,y=0.88246,z=0.00904)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.46937,y=0.88297,z=0.01020)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.46937,y=0.88297,z=0.01020)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.46814,y=0.88361,z=0.01170)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.46814,y=0.88361,z=0.01170)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.46652,y=0.88440,z=0.01372)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.46652,y=0.88440,z=0.01372)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.46431,y=0.88550,z=0.01658)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.46431,y=0.88550,z=0.01658)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.79739,y=0.60347,z=0.00654)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.79739,y=0.60347,z=0.00654)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.79731,y=0.60357,z=0.00712)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.79731,y=0.60357,z=0.00712)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.79719,y=0.60368,z=0.00782)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.79719,y=0.60368,z=0.00782)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.79705,y=0.60385,z=0.00866)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.79705,y=0.60385,z=0.00866)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.79693,y=0.60401,z=0.00972)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.79693,y=0.60401,z=0.00972)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.79677,y=0.60421,z=0.01107)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.79677,y=0.60421,z=0.01107)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.79650,y=0.60444,z=0.01285)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.79650,y=0.60444,z=0.01285)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.79620,y=0.60481,z=0.01531)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.79620,y=0.60481,z=0.01531)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.79576,y=0.60534,z=0.01895)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.79576,y=0.60534,z=0.01895)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.95390,y=0.30014,z=0.00608)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.95390,y=0.30014,z=0.00608)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.95381,y=0.30029,z=0.00658)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.95381,y=0.30029,z=0.00658)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.95377,y=0.30047,z=0.00717)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.95377,y=0.30047,z=0.00717)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.95370,y=0.30069,z=0.00788)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.95370,y=0.30069,z=0.00788)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.95360,y=0.30095,z=0.00875)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.95360,y=0.30095,z=0.00875)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.95351,y=0.30129,z=0.00983)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.95351,y=0.30129,z=0.00983)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.95334,y=0.30171,z=0.01122)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.95334,y=0.30171,z=0.01122)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.95313,y=0.30226,z=0.01306)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.95313,y=0.30226,z=0.01306)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.95305,y=0.30232,z=0.01562)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.95305,y=0.30232,z=0.01562)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.95303,y=0.30244,z=0.01945)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.95303,y=0.30244,z=0.01945)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99304,y=-0.11748,z=0.00887)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99304,y=-0.11748,z=0.00887)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99301,y=-0.11776,z=0.00998)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99301,y=-0.11776,z=0.00998)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99293,y=-0.11812,z=0.01141)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99293,y=-0.11812,z=0.01141)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99294,y=-0.11795,z=0.01333)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99294,y=-0.11795,z=0.01333)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99279,y=-0.11849,z=0.01601)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99279,y=-0.11849,z=0.01601)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> accel: 4
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.99920,y=-0.03917,z=0.00664)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.99920,y=-0.03917,z=0.00664)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.99920,y=-0.03910,z=0.00724)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.99920,y=-0.03910,z=0.00724)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.99921,y=-0.03901,z=0.00796)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.99921,y=-0.03901,z=0.00796)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.99921,y=-0.03891,z=0.00884)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.99921,y=-0.03891,z=0.00884)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.99921,y=-0.03877,z=0.00994)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.99921,y=-0.03877,z=0.00994)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.99920,y=-0.03861,z=0.01136)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.99920,y=-0.03861,z=0.01136)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.99914,y=-0.03838,z=0.01323)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.99914,y=-0.03838,z=0.01323)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.99913,y=-0.03806,z=0.01586)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.99913,y=-0.03806,z=0.01586)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.99911,y=-0.03759,z=0.01978)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.99911,y=-0.03759,z=0.01978)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.93699,y=-0.34934,z=0.00679)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.93699,y=-0.34934,z=0.00679)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.93711,y=-0.34892,z=0.00741)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.93711,y=-0.34892,z=0.00741)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.93727,y=-0.34842,z=0.00815)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.93727,y=-0.34842,z=0.00815)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.93750,y=-0.34783,z=0.00906)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.93750,y=-0.34783,z=0.00906)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.93777,y=-0.34708,z=0.01019)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.93777,y=-0.34708,z=0.01019)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.93811,y=-0.34611,z=0.01165)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.93811,y=-0.34611,z=0.01165)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.93858,y=-0.34483,z=0.01360)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.93858,y=-0.34483,z=0.01360)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.93893,y=-0.34373,z=0.01633)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.93893,y=-0.34373,z=0.01633)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.72292,y=-0.69091,z=0.00753)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.72292,y=-0.69091,z=0.00753)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.72311,y=-0.69069,z=0.00831)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.72311,y=-0.69069,z=0.00831)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.72336,y=-0.69043,z=0.00927)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.72336,y=-0.69043,z=0.00927)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.72364,y=-0.69008,z=0.01049)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.72364,y=-0.69008,z=0.01049)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.72407,y=-0.68967,z=0.01207)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.72407,y=-0.68967,z=0.01207)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.72433,y=-0.68925,z=0.01420)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.72433,y=-0.68925,z=0.01420)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.72476,y=-0.68878,z=0.01726)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.72476,y=-0.68878,z=0.01726)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.53430,y=-0.84526,z=0.00644)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.53430,y=-0.84526,z=0.00644)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.53519,y=-0.84470,z=0.00700)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.53519,y=-0.84470,z=0.00700)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.53623,y=-0.84402,z=0.00766)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.53623,y=-0.84402,z=0.00766)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.53745,y=-0.84325,z=0.00846)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.53745,y=-0.84325,z=0.00846)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.53890,y=-0.84229,z=0.00945)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.53890,y=-0.84229,z=0.00945)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.54071,y=-0.84116,z=0.01071)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.54071,y=-0.84116,z=0.01071)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.53860,y=-0.84251,z=0.01238)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.53860,y=-0.84251,z=0.01238)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.54098,y=-0.84093,z=0.01462)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.54098,y=-0.84093,z=0.01462)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.53792,y=-0.84284,z=0.01793)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.53792,y=-0.84284,z=0.01793)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.16970,y=-0.98548,z=0.00722)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.16970,y=-0.98548,z=0.00722)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.17064,y=-0.98533,z=0.00794)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.17064,y=-0.98533,z=0.00794)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.17177,y=-0.98511,z=0.00881)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.17177,y=-0.98511,z=0.00881)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.17318,y=-0.98485,z=0.00990)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.17318,y=-0.98485,z=0.00990)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.17498,y=-0.98453,z=0.01129)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.17498,y=-0.98453,z=0.01129)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.17735,y=-0.98404,z=0.01314)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.17735,y=-0.98404,z=0.01314)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.18065,y=-0.98342,z=0.01571)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.18065,y=-0.98342,z=0.01571)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.17606,y=-0.98415,z=0.01956)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.17606,y=-0.98415,z=0.01956)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.29747,y=-0.95473,z=0.00692)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.29747,y=-0.95473,z=0.00692)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.29897,y=-0.95424,z=0.00757)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.29897,y=-0.95424,z=0.00757)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.30078,y=-0.95368,z=0.00835)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.30078,y=-0.95368,z=0.00835)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.29873,y=-0.95431,z=0.00934)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.29873,y=-0.95431,z=0.00934)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.30098,y=-0.95359,z=0.01056)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.30098,y=-0.95359,z=0.01056)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.29835,y=-0.95440,z=0.01218)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.29835,y=-0.95440,z=0.01218)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.30133,y=-0.95343,z=0.01435)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.30133,y=-0.95343,z=0.01435)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.29759,y=-0.95448,z=0.01750)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.29759,y=-0.95448,z=0.01750)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.47512,y=-0.87987,z=0.00748)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.47512,y=-0.87987,z=0.00748)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.47473,y=-0.88007,z=0.00826)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.47473,y=-0.88007,z=0.00826)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.47426,y=-0.88033,z=0.00921)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.47426,y=-0.88033,z=0.00921)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.47369,y=-0.88065,z=0.01041)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.47369,y=-0.88065,z=0.01041)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.47294,y=-0.88099,z=0.01197)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.47294,y=-0.88099,z=0.01197)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.47196,y=-0.88151,z=0.01409)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.47196,y=-0.88151,z=0.01409)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.47061,y=-0.88218,z=0.01711)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.47061,y=-0.88218,z=0.01711)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.80188,y=-0.59745,z=0.00660)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.80188,y=-0.59745,z=0.00660)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.80193,y=-0.59735,z=0.00719)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.80193,y=-0.59735,z=0.00719)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.80199,y=-0.59727,z=0.00790)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.80199,y=-0.59727,z=0.00790)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.80207,y=-0.59717,z=0.00877)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.80207,y=-0.59717,z=0.00877)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.80217,y=-0.59705,z=0.00984)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.80217,y=-0.59705,z=0.00984)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.80224,y=-0.59686,z=0.01122)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.80224,y=-0.59686,z=0.01122)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.80235,y=-0.59668,z=0.01305)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.80235,y=-0.59668,z=0.01305)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.80249,y=-0.59642,z=0.01558)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.80249,y=-0.59642,z=0.01558)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.80271,y=-0.59613,z=0.01934)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.80271,y=-0.59613,z=0.01934)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.95540,y=-0.29528,z=0.00610)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.95540,y=-0.29528,z=0.00610)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.95538,y=-0.29539,z=0.00661)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.95538,y=-0.29539,z=0.00661)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.95530,y=-0.29549,z=0.00721)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.95530,y=-0.29549,z=0.00721)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.95525,y=-0.29562,z=0.00793)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.95525,y=-0.29562,z=0.00793)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.95523,y=-0.29578,z=0.00880)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.95523,y=-0.29578,z=0.00880)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.95516,y=-0.29594,z=0.00990)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.95516,y=-0.29594,z=0.00990)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.95507,y=-0.29613,z=0.01130)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.95507,y=-0.29613,z=0.01130)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.95496,y=-0.29635,z=0.01317)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.95496,y=-0.29635,z=0.01317)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.95486,y=-0.29662,z=0.01578)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.95486,y=-0.29662,z=0.01578)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.95472,y=-0.29697,z=0.01969)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.95472,y=-0.29697,z=0.01969)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99257,y=0.12130,z=0.00890)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99257,y=0.12130,z=0.00890)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99253,y=0.12141,z=0.01003)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99253,y=0.12141,z=0.01003)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99254,y=0.12154,z=0.01147)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99254,y=0.12154,z=0.01147)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99249,y=0.12169,z=0.01341)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99249,y=0.12169,z=0.01341)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99241,y=0.12187,z=0.01614)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99241,y=0.12187,z=0.01614)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99856,y=-0.05428,z=0.00286)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99856,y=-0.05428,z=0.00286)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99853,y=-0.05428,z=0.00297)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99853,y=-0.05428,z=0.00297)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99857,y=-0.05429,z=0.00308)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99857,y=-0.05429,z=0.00308)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99854,y=-0.05429,z=0.00321)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99854,y=-0.05429,z=0.00321)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99854,y=-0.05429,z=0.00334)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99854,y=-0.05429,z=0.00334)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99851,y=-0.05430,z=0.00349)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99851,y=-0.05430,z=0.00349)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99851,y=-0.05430,z=0.00364)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99851,y=-0.05430,z=0.00364)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99851,y=-0.05430,z=0.00382)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99851,y=-0.05430,z=0.00382)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99854,y=-0.05431,z=0.00401)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99854,y=-0.05431,z=0.00401)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99850,y=-0.05431,z=0.00422)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99850,y=-0.05431,z=0.00422)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99855,y=-0.05432,z=0.00446)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99855,y=-0.05432,z=0.00446)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99853,y=-0.05432,z=0.00472)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99853,y=-0.05432,z=0.00472)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99854,y=-0.05433,z=0.00502)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99854,y=-0.05433,z=0.00502)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99852,y=-0.05433,z=0.00535)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99852,y=-0.05433,z=0.00535)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99855,y=-0.05434,z=0.00574)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99855,y=-0.05434,z=0.00574)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99852,y=-0.05435,z=0.00618)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99852,y=-0.05435,z=0.00618)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99848,y=-0.05435,z=0.00670)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99848,y=-0.05435,z=0.00670)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99850,y=-0.05436,z=0.00732)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99850,y=-0.05436,z=0.00732)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99852,y=-0.05437,z=0.00805)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99852,y=-0.05437,z=0.00805)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99848,y=-0.05437,z=0.00895)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99848,y=-0.05437,z=0.00895)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99849,y=-0.05439,z=0.01009)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99849,y=-0.05439,z=0.01009)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99843,y=-0.05440,z=0.01154)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99843,y=-0.05440,z=0.01154)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99845,y=-0.05441,z=0.01349)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99845,y=-0.05441,z=0.01349)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99838,y=-0.05443,z=0.01623)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99838,y=-0.05443,z=0.01623)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.08176,y=0.99667,z=0.00167)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.08176,y=0.99667,z=0.00167)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.08180,y=0.99668,z=0.00170)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.08180,y=0.99668,z=0.00170)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.08183,y=0.99661,z=0.00174)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.08183,y=0.99661,z=0.00174)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.08187,y=0.99662,z=0.00178)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.08187,y=0.99662,z=0.00178)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.08192,y=0.99664,z=0.00182)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.08192,y=0.99664,z=0.00182)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.08196,y=0.99665,z=0.00186)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.08196,y=0.99665,z=0.00186)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.08201,y=0.99666,z=0.00191)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.08201,y=0.99666,z=0.00191)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.08206,y=0.99658,z=0.00195)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.08206,y=0.99658,z=0.00195)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.08211,y=0.99661,z=0.00200)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.08211,y=0.99661,z=0.00200)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.08216,y=0.99660,z=0.00205)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.08216,y=0.99660,z=0.00205)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.08222,y=0.99663,z=0.00211)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.08222,y=0.99663,z=0.00211)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.08228,y=0.99660,z=0.00217)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.08228,y=0.99660,z=0.00217)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.08234,y=0.99658,z=0.00223)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.08234,y=0.99658,z=0.00223)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.08241,y=0.99664,z=0.00229)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.08241,y=0.99664,z=0.00229)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.08248,y=0.99662,z=0.00236)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.08248,y=0.99662,z=0.00236)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.08255,y=0.99656,z=0.00243)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.08255,y=0.99656,z=0.00243)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.08263,y=0.99657,z=0.00250)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.08263,y=0.99657,z=0.00250)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.08272,y=0.99661,z=0.00259)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.08272,y=0.99661,z=0.00259)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.08281,y=0.99657,z=0.00267)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.08281,y=0.99657,z=0.00267)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.08290,y=0.99655,z=0.00276)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.08290,y=0.99655,z=0.00276)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.08300,y=0.99653,z=0.00286)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.08300,y=0.99653,z=0.00286)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.08311,y=0.99654,z=0.00297)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.08311,y=0.99654,z=0.00297)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.08324,y=0.99655,z=0.00308)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.08324,y=0.99655,z=0.00308)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.08336,y=0.99650,z=0.00321)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.08336,y=0.99650,z=0.00321)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.08350,y=0.99649,z=0.00334)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.08350,y=0.99649,z=0.00334)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.08365,y=0.99652,z=0.00349)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.08365,y=0.99652,z=0.00349)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.08382,y=0.99647,z=0.00364)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.08382,y=0.99647,z=0.00364)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.08400,y=0.99649,z=0.00382)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.08400,y=0.99649,z=0.00382)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.08420,y=0.99646,z=0.00401)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.08420,y=0.99646,z=0.00401)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.08442,y=0.99643,z=0.00422)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.08442,y=0.99643,z=0.00422)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.08466,y=0.99645,z=0.00446)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.08466,y=0.99645,z=0.00446)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.08493,y=0.99640,z=0.00472)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.08493,y=0.99640,z=0.00472)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.08524,y=0.99637,z=0.00501)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.08524,y=0.99637,z=0.00501)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.08559,y=0.99635,z=0.00535)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.08559,y=0.99635,z=0.00535)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.08599,y=0.99629,z=0.00573)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.08599,y=0.99629,z=0.00573)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.08645,y=0.99627,z=0.00617)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.08645,y=0.99627,z=0.00617)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.08698,y=0.99619,z=0.00669)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.08698,y=0.99619,z=0.00669)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.08761,y=0.99612,z=0.00730)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.08761,y=0.99612,z=0.00730)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.08837,y=0.99606,z=0.00803)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.08837,y=0.99606,z=0.00803)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.08929,y=0.99599,z=0.00893)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.08929,y=0.99599,z=0.00893)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.09044,y=0.99584,z=0.01005)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.09044,y=0.99584,z=0.01005)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.09193,y=0.99570,z=0.01149)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.09193,y=0.99570,z=0.01149)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.09392,y=0.99551,z=0.01342)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.09392,y=0.99551,z=0.01342)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.09670,y=0.99516,z=0.01612)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.09670,y=0.99516,z=0.01612)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.54409,y=-0.83901,z=0.00279)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.54409,y=-0.83901,z=0.00279)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.54370,y=-0.83926,z=0.00289)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.54370,y=-0.83926,z=0.00289)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.54329,y=-0.83955,z=0.00300)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.54329,y=-0.83955,z=0.00300)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.54285,y=-0.83985,z=0.00312)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.54285,y=-0.83985,z=0.00312)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.54235,y=-0.84015,z=0.00325)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.54235,y=-0.84015,z=0.00325)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.54182,y=-0.84050,z=0.00339)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.54182,y=-0.84050,z=0.00339)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.54125,y=-0.84087,z=0.00354)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.54125,y=-0.84087,z=0.00354)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.54064,y=-0.84127,z=0.00370)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.54064,y=-0.84127,z=0.00370)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.53999,y=-0.84172,z=0.00388)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.53999,y=-0.84172,z=0.00388)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.53925,y=-0.84216,z=0.00409)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.53925,y=-0.84216,z=0.00409)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.53998,y=-0.84170,z=0.00430)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.53998,y=-0.84170,z=0.00430)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.54078,y=-0.84119,z=0.00454)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.54078,y=-0.84119,z=0.00454)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.53995,y=-0.84170,z=0.00482)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.53995,y=-0.84170,z=0.00482)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.54084,y=-0.84109,z=0.00513)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.54084,y=-0.84109,z=0.00513)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.53992,y=-0.84170,z=0.00548)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.53992,y=-0.84170,z=0.00548)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.54098,y=-0.84107,z=0.00588)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.54098,y=-0.84107,z=0.00588)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.53989,y=-0.84171,z=0.00635)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.53989,y=-0.84171,z=0.00635)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.54110,y=-0.84095,z=0.00689)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.54110,y=-0.84095,z=0.00689)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.53982,y=-0.84175,z=0.00755)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.53982,y=-0.84175,z=0.00755)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.54128,y=-0.84082,z=0.00833)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.54128,y=-0.84082,z=0.00833)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.53974,y=-0.84180,z=0.00931)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.53974,y=-0.84180,z=0.00931)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.54153,y=-0.84059,z=0.01052)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.54153,y=-0.84059,z=0.01052)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.53955,y=-0.84182,z=0.01213)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.53955,y=-0.84182,z=0.01213)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.54205,y=-0.84024,z=0.01426)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.54205,y=-0.84024,z=0.01426)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.53927,y=-0.84196,z=0.01740)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.53927,y=-0.84196,z=0.01740)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99070,y=-0.13620,z=0.00360)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99070,y=-0.13620,z=0.00360)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99067,y=-0.13625,z=0.00377)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99067,y=-0.13625,z=0.00377)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99068,y=-0.13630,z=0.00395)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99068,y=-0.13630,z=0.00395)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99065,y=-0.13636,z=0.00416)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99065,y=-0.13636,z=0.00416)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99062,y=-0.13642,z=0.00439)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99062,y=-0.13642,z=0.00439)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99062,y=-0.13650,z=0.00465)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99062,y=-0.13650,z=0.00465)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99063,y=-0.13659,z=0.00494)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99063,y=-0.13659,z=0.00494)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99061,y=-0.13668,z=0.00527)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99061,y=-0.13668,z=0.00527)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99059,y=-0.13676,z=0.00564)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99059,y=-0.13676,z=0.00564)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99058,y=-0.13686,z=0.00608)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99058,y=-0.13686,z=0.00608)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99056,y=-0.13697,z=0.00658)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99056,y=-0.13697,z=0.00658)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99054,y=-0.13710,z=0.00718)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99054,y=-0.13710,z=0.00718)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99052,y=-0.13721,z=0.00789)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99052,y=-0.13721,z=0.00789)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99049,y=-0.13735,z=0.00877)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99049,y=-0.13735,z=0.00877)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99045,y=-0.13753,z=0.00986)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99045,y=-0.13753,z=0.00986)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99044,y=-0.13770,z=0.01125)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99044,y=-0.13770,z=0.01125)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99036,y=-0.13793,z=0.01312)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99036,y=-0.13793,z=0.01312)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99026,y=-0.13816,z=0.01572)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99026,y=-0.13816,z=0.01572)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99019,y=-0.13853,z=0.01961)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99019,y=-0.13853,z=0.01961)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.99979,y=-0.02036,z=0.00382)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.99979,y=-0.02036,z=0.00382)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.99980,y=-0.02036,z=0.00401)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.99980,y=-0.02036,z=0.00401)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.99981,y=-0.02036,z=0.00422)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.99981,y=-0.02036,z=0.00422)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.99979,y=-0.02035,z=0.00445)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.99979,y=-0.02035,z=0.00445)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.99979,y=-0.02035,z=0.00472)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.99979,y=-0.02035,z=0.00472)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.99977,y=-0.02035,z=0.00501)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.99977,y=-0.02035,z=0.00501)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.99978,y=-0.02034,z=0.00535)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.99978,y=-0.02034,z=0.00535)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.99982,y=-0.02034,z=0.00573)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.99982,y=-0.02034,z=0.00573)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.99980,y=-0.02033,z=0.00617)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.99980,y=-0.02033,z=0.00617)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.99977,y=-0.02033,z=0.00669)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.99977,y=-0.02033,z=0.00669)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.99977,y=-0.02032,z=0.00730)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.99977,y=-0.02032,z=0.00730)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.99976,y=-0.02032,z=0.00803)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.99976,y=-0.02032,z=0.00803)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.99973,y=-0.02031,z=0.00893)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.99973,y=-0.02031,z=0.00893)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.99976,y=-0.02030,z=0.01005)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.99976,y=-0.02030,z=0.01005)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.99972,y=-0.02028,z=0.01149)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.99972,y=-0.02028,z=0.01149)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.99973,y=-0.02026,z=0.01342)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.99973,y=-0.02026,z=0.01342)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.99968,y=-0.02023,z=0.01612)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.99968,y=-0.02023,z=0.01612)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.39600,y=0.91829,z=0.00263)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.39600,y=0.91829,z=0.00263)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.39588,y=0.91832,z=0.00272)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.39588,y=0.91832,z=0.00272)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.39576,y=0.91839,z=0.00282)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.39576,y=0.91839,z=0.00282)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.39563,y=0.91845,z=0.00292)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.39563,y=0.91845,z=0.00292)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.39547,y=0.91845,z=0.00303)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.39547,y=0.91845,z=0.00303)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.39532,y=0.91854,z=0.00315)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.39532,y=0.91854,z=0.00315)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.39517,y=0.91863,z=0.00328)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.39517,y=0.91863,z=0.00328)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.39499,y=0.91868,z=0.00342)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.39499,y=0.91868,z=0.00342)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.39479,y=0.91875,z=0.00357)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.39479,y=0.91875,z=0.00357)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.39459,y=0.91884,z=0.00374)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.39459,y=0.91884,z=0.00374)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.39438,y=0.91897,z=0.00392)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.39438,y=0.91897,z=0.00392)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.39413,y=0.91906,z=0.00413)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.39413,y=0.91906,z=0.00413)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.39386,y=0.91916,z=0.00435)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.39386,y=0.91916,z=0.00435)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.39356,y=0.91929,z=0.00460)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.39356,y=0.91929,z=0.00460)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.39323,y=0.91944,z=0.00488)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.39323,y=0.91944,z=0.00488)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.39286,y=0.91960,z=0.00520)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.39286,y=0.91960,z=0.00520)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.39245,y=0.91980,z=0.00557)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.39245,y=0.91980,z=0.00557)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.39195,y=0.91998,z=0.00598)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.39195,y=0.91998,z=0.00598)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.39140,y=0.92021,z=0.00647)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.39140,y=0.92021,z=0.00647)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.39075,y=0.92049,z=0.00704)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.39075,y=0.92049,z=0.00704)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.38999,y=0.92080,z=0.00772)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.38999,y=0.92080,z=0.00772)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.38907,y=0.92116,z=0.00855)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.38907,y=0.92116,z=0.00855)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.38799,y=0.92160,z=0.00958)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.38799,y=0.92160,z=0.00958)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.38652,y=0.92221,z=0.01089)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.38652,y=0.92221,z=0.01089)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.38481,y=0.92292,z=0.01262)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.38481,y=0.92292,z=0.01262)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.38245,y=0.92389,z=0.01500)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.38245,y=0.92389,z=0.01500)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.37896,y=0.92522,z=0.01849)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.37896,y=0.92522,z=0.01849)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.02848,y=-0.99964,z=0.00178)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.02848,y=-0.99964,z=0.00178)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.02822,y=-0.99954,z=0.00182)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.02822,y=-0.99954,z=0.00182)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.02795,y=-0.99963,z=0.00186)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.02795,y=-0.99963,z=0.00186)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.02766,y=-0.99961,z=0.00191)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.02766,y=-0.99961,z=0.00191)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.02736,y=-0.99961,z=0.00195)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.02736,y=-0.99961,z=0.00195)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.02704,y=-0.99961,z=0.00200)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.02704,y=-0.99961,z=0.00200)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.02671,y=-0.99968,z=0.00205)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.02671,y=-0.99968,z=0.00205)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.02636,y=-0.99970,z=0.00211)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.02636,y=-0.99970,z=0.00211)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.02599,y=-0.99965,z=0.00217)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.02599,y=-0.99965,z=0.00217)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.02560,y=-0.99971,z=0.00223)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.02560,y=-0.99971,z=0.00223)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.02519,y=-0.99965,z=0.00229)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.02519,y=-0.99965,z=0.00229)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.02475,y=-0.99970,z=0.00236)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.02475,y=-0.99970,z=0.00236)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.02429,y=-0.99971,z=0.00243)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.02429,y=-0.99971,z=0.00243)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.02380,y=-0.99969,z=0.00251)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.02380,y=-0.99969,z=0.00251)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.02328,y=-0.99977,z=0.00259)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.02328,y=-0.99977,z=0.00259)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.02272,y=-0.99977,z=0.00267)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.02272,y=-0.99977,z=0.00267)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.02212,y=-0.99979,z=0.00277)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.02212,y=-0.99979,z=0.00277)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.02148,y=-0.99978,z=0.00286)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.02148,y=-0.99978,z=0.00286)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.02079,y=-0.99980,z=0.00297)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.02079,y=-0.99980,z=0.00297)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.02005,y=-0.99982,z=0.00309)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.02005,y=-0.99982,z=0.00309)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.01925,y=-0.99983,z=0.00321)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.01925,y=-0.99983,z=0.00321)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.02006,y=-0.99979,z=0.00334)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.02006,y=-0.99979,z=0.00334)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.01919,y=-0.99979,z=0.00349)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.01919,y=-0.99979,z=0.00349)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.02006,y=-0.99981,z=0.00365)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.02006,y=-0.99981,z=0.00365)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.01911,y=-0.99983,z=0.00382)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.01911,y=-0.99983,z=0.00382)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.02007,y=-0.99982,z=0.00401)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.02007,y=-0.99982,z=0.00401)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.01902,y=-0.99984,z=0.00423)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.01902,y=-0.99984,z=0.00423)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.02008,y=-0.99980,z=0.00446)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.02008,y=-0.99980,z=0.00446)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.01890,y=-0.99984,z=0.00473)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.01890,y=-0.99984,z=0.00473)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.02009,y=-0.99981,z=0.00502)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.02009,y=-0.99981,z=0.00502)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.01876,y=-0.99983,z=0.00536)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.01876,y=-0.99983,z=0.00536)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.02010,y=-0.99979,z=0.00574)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.02010,y=-0.99979,z=0.00574)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.01857,y=-0.99983,z=0.00619)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.01857,y=-0.99983,z=0.00619)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.02012,y=-0.99975,z=0.00671)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.02012,y=-0.99975,z=0.00671)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.01830,y=-0.99981,z=0.00732)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.01830,y=-0.99981,z=0.00732)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.02014,y=-0.99976,z=0.00806)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.02014,y=-0.99976,z=0.00806)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.01792,y=-0.99978,z=0.00896)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.01792,y=-0.99978,z=0.00896)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.02018,y=-0.99974,z=0.01009)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.02018,y=-0.99974,z=0.01009)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.01732,y=-0.99977,z=0.01154)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.01732,y=-0.99977,z=0.01154)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.02024,y=-0.99973,z=0.01349)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.02024,y=-0.99973,z=0.01349)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.01623,y=-0.99975,z=0.01623)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.01623,y=-0.99975,z=0.01623)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99631,y=0.08570,z=0.00331)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99631,y=0.08570,z=0.00331)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99631,y=0.08571,z=0.00345)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99631,y=0.08571,z=0.00345)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99630,y=0.08573,z=0.00361)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99630,y=0.08573,z=0.00361)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99629,y=0.08575,z=0.00378)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99629,y=0.08575,z=0.00378)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99632,y=0.08578,z=0.00397)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99632,y=0.08578,z=0.00397)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99631,y=0.08580,z=0.00418)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99631,y=0.08580,z=0.00418)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99630,y=0.08581,z=0.00441)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99630,y=0.08581,z=0.00441)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99632,y=0.08582,z=0.00467)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99632,y=0.08582,z=0.00467)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99632,y=0.08583,z=0.00496)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99632,y=0.08583,z=0.00496)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99634,y=0.08584,z=0.00529)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99634,y=0.08584,z=0.00529)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99634,y=0.08585,z=0.00566)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99634,y=0.08585,z=0.00566)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99630,y=0.08586,z=0.00609)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99630,y=0.08586,z=0.00609)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99627,y=0.08587,z=0.00660)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99627,y=0.08587,z=0.00660)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99629,y=0.08589,z=0.00719)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99629,y=0.08589,z=0.00719)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99628,y=0.08591,z=0.00791)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99628,y=0.08591,z=0.00791)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99628,y=0.08593,z=0.00878)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99628,y=0.08593,z=0.00878)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99624,y=0.08596,z=0.00986)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99624,y=0.08596,z=0.00986)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99623,y=0.08600,z=0.01126)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99623,y=0.08600,z=0.01126)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99619,y=0.08605,z=0.01311)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99619,y=0.08605,z=0.01311)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99616,y=0.08612,z=0.01569)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99616,y=0.08612,z=0.01569)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99609,y=0.08623,z=0.01953)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99609,y=0.08623,z=0.01953)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.14524,y=0.98932,z=0.01263)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.14524,y=0.98932,z=0.01263)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.14252,y=0.98966,z=0.01500)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.14252,y=0.98966,z=0.01500)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.13856,y=0.99021,z=0.01847)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.13856,y=0.99021,z=0.01847)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.36861,y=0.92957,z=0.00658)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.36861,y=0.92957,z=0.00658)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.36929,y=0.92931,z=0.00717)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.36929,y=0.92931,z=0.00717)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.37007,y=0.92899,z=0.00787)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.37007,y=0.92899,z=0.00787)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.37102,y=0.92859,z=0.00873)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.37102,y=0.92859,z=0.00873)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.37219,y=0.92812,z=0.00979)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.37219,y=0.92812,z=0.00979)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.37363,y=0.92750,z=0.01115)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.37363,y=0.92750,z=0.01115)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.37553,y=0.92671,z=0.01295)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.37553,y=0.92671,z=0.01295)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.37808,y=0.92561,z=0.01543)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.37808,y=0.92561,z=0.01543)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.38175,y=0.92403,z=0.01909)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.38175,y=0.92403,z=0.01909)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.10894,y=0.99401,z=0.00726)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.10894,y=0.99401,z=0.00726)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.10785,y=0.99414,z=0.00799)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.10785,y=0.99414,z=0.00799)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.10652,y=0.99427,z=0.00888)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.10652,y=0.99427,z=0.00888)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.10486,y=0.99447,z=0.00999)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.10486,y=0.99447,z=0.00999)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.10272,y=0.99464,z=0.01141)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.10272,y=0.99464,z=0.01141)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.09987,y=0.99493,z=0.01332)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.09987,y=0.99493,z=0.01332)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.10379,y=0.99449,z=0.01597)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.10379,y=0.99449,z=0.01597)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.09978,y=0.99481,z=0.01996)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.09978,y=0.99481,z=0.01996)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.31743,y=0.94825,z=0.00690)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.31743,y=0.94825,z=0.00690)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.31722,y=0.94833,z=0.00755)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.31722,y=0.94833,z=0.00755)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.31696,y=0.94841,z=0.00834)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.31696,y=0.94841,z=0.00834)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.31664,y=0.94851,z=0.00931)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.31664,y=0.94851,z=0.00931)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.31622,y=0.94862,z=0.01054)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.31622,y=0.94862,z=0.01054)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.31571,y=0.94876,z=0.01214)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.31571,y=0.94876,z=0.01214)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.31500,y=0.94895,z=0.01432)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.31500,y=0.94895,z=0.01432)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.31400,y=0.94924,z=0.01744)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.31400,y=0.94924,z=0.01744)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.47817,y=0.87826,z=0.00747)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.47817,y=0.87826,z=0.00747)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.47801,y=0.87831,z=0.00824)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.47801,y=0.87831,z=0.00824)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.47783,y=0.87838,z=0.00919)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.47783,y=0.87838,z=0.00919)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.47763,y=0.87852,z=0.01038)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.47763,y=0.87852,z=0.01038)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.47733,y=0.87864,z=0.01193)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.47733,y=0.87864,z=0.01193)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.47696,y=0.87880,z=0.01403)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.47696,y=0.87880,z=0.01403)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.47643,y=0.87902,z=0.01701)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.47643,y=0.87902,z=0.01701)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.80261,y=0.59650,z=0.00658)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.80261,y=0.59650,z=0.00658)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.80266,y=0.59637,z=0.00717)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.80266,y=0.59637,z=0.00717)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.80276,y=0.59625,z=0.00787)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.80276,y=0.59625,z=0.00787)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.80290,y=0.59607,z=0.00873)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.80290,y=0.59607,z=0.00873)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.80301,y=0.59589,z=0.00979)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.80301,y=0.59589,z=0.00979)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.80317,y=0.59569,z=0.01115)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.80317,y=0.59569,z=0.01115)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.80332,y=0.59536,z=0.01296)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.80332,y=0.59536,z=0.01296)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.80359,y=0.59496,z=0.01545)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.80359,y=0.59496,z=0.01545)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.80398,y=0.59437,z=0.01914)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.80398,y=0.59437,z=0.01914)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.95531,y=0.29572,z=0.00608)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.95531,y=0.29572,z=0.00608)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.95523,y=0.29579,z=0.00659)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.95523,y=0.29579,z=0.00659)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.95518,y=0.29589,z=0.00718)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.95518,y=0.29589,z=0.00718)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.95517,y=0.29602,z=0.00789)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.95517,y=0.29602,z=0.00789)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.95510,y=0.29617,z=0.00876)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.95510,y=0.29617,z=0.00876)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.95500,y=0.29635,z=0.00985)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.95500,y=0.29635,z=0.00985)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.95494,y=0.29659,z=0.01124)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.95494,y=0.29659,z=0.01124)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.95481,y=0.29691,z=0.01308)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.95481,y=0.29691,z=0.01308)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.95461,y=0.29734,z=0.01565)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.95461,y=0.29734,z=0.01565)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.95442,y=0.29801,z=0.01948)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.95442,y=0.29801,z=0.01948)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99281,y=-0.11923,z=0.00886)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99281,y=-0.11923,z=0.00886)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99281,y=-0.11924,z=0.00998)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99281,y=-0.11924,z=0.00998)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99281,y=-0.11925,z=0.01141)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99281,y=-0.11925,z=0.01141)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99280,y=-0.11927,z=0.01333)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99280,y=-0.11927,z=0.01333)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99272,y=-0.11929,z=0.01601)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99272,y=-0.11929,z=0.01601)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> accel: 4
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.99920,y=-0.03950,z=0.00664)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.99920,y=-0.03950,z=0.00664)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.99920,y=-0.03946,z=0.00724)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.99920,y=-0.03946,z=0.00724)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.99921,y=-0.03941,z=0.00796)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.99921,y=-0.03941,z=0.00796)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.99921,y=-0.03935,z=0.00884)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.99921,y=-0.03935,z=0.00884)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.99921,y=-0.03927,z=0.00994)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.99921,y=-0.03927,z=0.00994)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.99915,y=-0.03917,z=0.01135)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.99915,y=-0.03917,z=0.01135)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.99914,y=-0.03904,z=0.01323)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.99914,y=-0.03904,z=0.01323)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.99913,y=-0.03886,z=0.01586)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.99913,y=-0.03886,z=0.01586)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.99911,y=-0.03858,z=0.01978)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.99911,y=-0.03858,z=0.01978)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.93699,y=-0.34934,z=0.00679)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.93699,y=-0.34934,z=0.00679)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.93711,y=-0.34892,z=0.00741)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.93711,y=-0.34892,z=0.00741)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.93727,y=-0.34842,z=0.00815)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.93727,y=-0.34842,z=0.00815)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.93750,y=-0.34783,z=0.00906)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.93750,y=-0.34783,z=0.00906)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.93777,y=-0.34708,z=0.01019)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.93777,y=-0.34708,z=0.01019)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.93811,y=-0.34611,z=0.01165)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.93811,y=-0.34611,z=0.01165)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.93858,y=-0.34483,z=0.01360)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.93858,y=-0.34483,z=0.01360)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.93893,y=-0.34373,z=0.01633)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.93893,y=-0.34373,z=0.01633)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.72292,y=-0.69091,z=0.00753)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.72292,y=-0.69091,z=0.00753)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.72311,y=-0.69069,z=0.00831)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.72311,y=-0.69069,z=0.00831)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.72336,y=-0.69043,z=0.00927)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.72336,y=-0.69043,z=0.00927)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.72364,y=-0.69008,z=0.01049)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.72364,y=-0.69008,z=0.01049)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.72407,y=-0.68967,z=0.01207)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.72407,y=-0.68967,z=0.01207)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.72433,y=-0.68925,z=0.01420)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.72433,y=-0.68925,z=0.01420)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.72476,y=-0.68878,z=0.01726)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.72476,y=-0.68878,z=0.01726)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.53430,y=-0.84526,z=0.00644)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.53430,y=-0.84526,z=0.00644)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.53519,y=-0.84470,z=0.00700)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.53519,y=-0.84470,z=0.00700)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.53623,y=-0.84402,z=0.00766)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.53623,y=-0.84402,z=0.00766)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.53745,y=-0.84325,z=0.00846)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.53745,y=-0.84325,z=0.00846)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.53890,y=-0.84229,z=0.00945)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.53890,y=-0.84229,z=0.00945)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.54071,y=-0.84116,z=0.01071)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.54071,y=-0.84116,z=0.01071)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.53860,y=-0.84251,z=0.01238)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.53860,y=-0.84251,z=0.01238)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.54098,y=-0.84093,z=0.01462)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.54098,y=-0.84093,z=0.01462)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.53792,y=-0.84284,z=0.01793)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.53792,y=-0.84284,z=0.01793)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.16970,y=-0.98548,z=0.00722)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.16970,y=-0.98548,z=0.00722)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.17064,y=-0.98533,z=0.00794)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.17064,y=-0.98533,z=0.00794)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.17177,y=-0.98511,z=0.00881)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.17177,y=-0.98511,z=0.00881)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.17318,y=-0.98485,z=0.00990)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.17318,y=-0.98485,z=0.00990)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.17498,y=-0.98453,z=0.01129)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.17498,y=-0.98453,z=0.01129)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.17735,y=-0.98404,z=0.01314)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.17735,y=-0.98404,z=0.01314)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.18065,y=-0.98342,z=0.01571)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.18065,y=-0.98342,z=0.01571)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.17606,y=-0.98415,z=0.01956)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.17606,y=-0.98415,z=0.01956)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.29747,y=-0.95473,z=0.00692)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.29747,y=-0.95473,z=0.00692)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.29897,y=-0.95424,z=0.00757)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.29897,y=-0.95424,z=0.00757)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.30078,y=-0.95368,z=0.00835)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.30078,y=-0.95368,z=0.00835)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.29873,y=-0.95431,z=0.00934)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.29873,y=-0.95431,z=0.00934)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.30098,y=-0.95359,z=0.01056)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.30098,y=-0.95359,z=0.01056)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.29835,y=-0.95440,z=0.01218)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.29835,y=-0.95440,z=0.01218)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.30133,y=-0.95343,z=0.01435)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.30133,y=-0.95343,z=0.01435)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.29759,y=-0.95448,z=0.01750)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.29759,y=-0.95448,z=0.01750)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.47512,y=-0.87987,z=0.00748)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.47512,y=-0.87987,z=0.00748)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.47473,y=-0.88007,z=0.00826)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.47473,y=-0.88007,z=0.00826)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.47426,y=-0.88033,z=0.00921)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.47426,y=-0.88033,z=0.00921)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.47369,y=-0.88065,z=0.01041)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.47369,y=-0.88065,z=0.01041)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.47294,y=-0.88099,z=0.01197)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.47294,y=-0.88099,z=0.01197)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.47196,y=-0.88151,z=0.01409)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.47196,y=-0.88151,z=0.01409)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.47061,y=-0.88218,z=0.01711)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.47061,y=-0.88218,z=0.01711)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.80188,y=-0.59745,z=0.00660)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.80188,y=-0.59745,z=0.00660)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.80193,y=-0.59735,z=0.00719)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.80193,y=-0.59735,z=0.00719)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.80199,y=-0.59727,z=0.00790)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.80199,y=-0.59727,z=0.00790)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.80207,y=-0.59717,z=0.00877)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.80207,y=-0.59717,z=0.00877)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.80217,y=-0.59705,z=0.00984)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.80217,y=-0.59705,z=0.00984)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.80224,y=-0.59686,z=0.01122)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.80224,y=-0.59686,z=0.01122)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.80235,y=-0.59668,z=0.01305)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.80235,y=-0.59668,z=0.01305)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.80249,y=-0.59642,z=0.01558)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.80249,y=-0.59642,z=0.01558)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.80271,y=-0.59613,z=0.01934)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.80271,y=-0.59613,z=0.01934)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.95540,y=-0.29528,z=0.00610)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.95540,y=-0.29528,z=0.00610)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.95538,y=-0.29539,z=0.00661)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.95538,y=-0.29539,z=0.00661)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.95530,y=-0.29549,z=0.00721)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.95530,y=-0.29549,z=0.00721)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.95525,y=-0.29562,z=0.00793)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.95525,y=-0.29562,z=0.00793)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.95523,y=-0.29578,z=0.00880)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.95523,y=-0.29578,z=0.00880)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.95516,y=-0.29594,z=0.00990)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.95516,y=-0.29594,z=0.00990)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.95507,y=-0.29613,z=0.01130)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.95507,y=-0.29613,z=0.01130)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.95496,y=-0.29635,z=0.01317)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.95496,y=-0.29635,z=0.01317)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.95486,y=-0.29662,z=0.01578)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.95486,y=-0.29662,z=0.01578)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.95472,y=-0.29697,z=0.01969)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.95472,y=-0.29697,z=0.01969)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99257,y=0.12130,z=0.00890)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99257,y=0.12130,z=0.00890)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99253,y=0.12141,z=0.01003)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99253,y=0.12141,z=0.01003)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99254,y=0.12154,z=0.01147)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99254,y=0.12154,z=0.01147)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99249,y=0.12169,z=0.01341)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99249,y=0.12169,z=0.01341)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99241,y=0.12187,z=0.01614)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99241,y=0.12187,z=0.01614)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99198,y=-0.12630,z=0.00666)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99198,y=-0.12630,z=0.00666)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99197,y=-0.12640,z=0.00727)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99197,y=-0.12640,z=0.00727)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99193,y=-0.12649,z=0.00800)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99193,y=-0.12649,z=0.00800)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99190,y=-0.12661,z=0.00890)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99190,y=-0.12661,z=0.00890)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99188,y=-0.12674,z=0.01002)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99188,y=-0.12674,z=0.01002)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99186,y=-0.12688,z=0.01147)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99186,y=-0.12688,z=0.01147)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99182,y=-0.12705,z=0.01340)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99182,y=-0.12705,z=0.01340)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99177,y=-0.12725,z=0.01613)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99177,y=-0.12725,z=0.01613)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99982,y=-0.01805,z=0.00286)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99982,y=-0.01805,z=0.00286)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99981,y=-0.01805,z=0.00297)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99981,y=-0.01805,z=0.00297)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99986,y=-0.01805,z=0.00309)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99986,y=-0.01805,z=0.00309)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99985,y=-0.01805,z=0.00321)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99985,y=-0.01805,z=0.00321)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99986,y=-0.01805,z=0.00334)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99986,y=-0.01805,z=0.00334)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99983,y=-0.01805,z=0.00349)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99983,y=-0.01805,z=0.00349)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99983,y=-0.01805,z=0.00365)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99983,y=-0.01805,z=0.00365)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99982,y=-0.01805,z=0.00382)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99982,y=-0.01805,z=0.00382)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99983,y=-0.01805,z=0.00402)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99983,y=-0.01805,z=0.00402)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99983,y=-0.01805,z=0.00423)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99983,y=-0.01805,z=0.00423)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99985,y=-0.01805,z=0.00446)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99985,y=-0.01805,z=0.00446)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99985,y=-0.01805,z=0.00473)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99985,y=-0.01805,z=0.00473)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99986,y=-0.01805,z=0.00502)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99986,y=-0.01805,z=0.00502)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99983,y=-0.01805,z=0.00536)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99983,y=-0.01805,z=0.00536)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99987,y=-0.01806,z=0.00575)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99987,y=-0.01806,z=0.00575)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99985,y=-0.01805,z=0.00619)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99985,y=-0.01805,z=0.00619)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99979,y=-0.01805,z=0.00671)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99979,y=-0.01805,z=0.00671)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99981,y=-0.01805,z=0.00732)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99981,y=-0.01805,z=0.00732)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99979,y=-0.01805,z=0.00806)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99979,y=-0.01805,z=0.00806)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99982,y=-0.01806,z=0.00897)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99982,y=-0.01806,z=0.00897)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99980,y=-0.01806,z=0.01010)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99980,y=-0.01806,z=0.01010)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99977,y=-0.01806,z=0.01156)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99977,y=-0.01806,z=0.01156)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99973,y=-0.01805,z=0.01351)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99973,y=-0.01805,z=0.01351)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99967,y=-0.01805,z=0.01625)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99967,y=-0.01805,z=0.01625)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.10846,y=0.99407,z=0.00221)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.10846,y=0.99407,z=0.00221)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.10814,y=0.99417,z=0.00228)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.10814,y=0.99417,z=0.00228)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.10780,y=0.99421,z=0.00234)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.10780,y=0.99421,z=0.00234)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.10743,y=0.99425,z=0.00241)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.10743,y=0.99425,z=0.00241)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.10704,y=0.99428,z=0.00249)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.10704,y=0.99428,z=0.00249)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.10663,y=0.99429,z=0.00257)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.10663,y=0.99429,z=0.00257)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.10619,y=0.99434,z=0.00265)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.10619,y=0.99434,z=0.00265)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.10572,y=0.99437,z=0.00275)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.10572,y=0.99437,z=0.00275)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.10522,y=0.99443,z=0.00284)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.10522,y=0.99443,z=0.00284)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.10468,y=0.99450,z=0.00295)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.10468,y=0.99450,z=0.00295)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.10410,y=0.99455,z=0.00306)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.10410,y=0.99455,z=0.00306)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.10348,y=0.99467,z=0.00318)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.10348,y=0.99467,z=0.00318)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.10280,y=0.99473,z=0.00332)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.10280,y=0.99473,z=0.00332)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.10206,y=0.99478,z=0.00346)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.10206,y=0.99478,z=0.00346)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.10126,y=0.99484,z=0.00362)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.10126,y=0.99484,z=0.00362)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.10038,y=0.99494,z=0.00379)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.10038,y=0.99494,z=0.00379)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.09942,y=0.99502,z=0.00398)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.09942,y=0.99502,z=0.00398)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.10043,y=0.99497,z=0.00418)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.10043,y=0.99497,z=0.00418)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.09936,y=0.99508,z=0.00442)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.09936,y=0.99508,z=0.00442)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.10047,y=0.99495,z=0.00467)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.10047,y=0.99495,z=0.00467)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.09927,y=0.99505,z=0.00496)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.09927,y=0.99505,z=0.00496)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.10054,y=0.99494,z=0.00529)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.10054,y=0.99494,z=0.00529)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.09917,y=0.99506,z=0.00567)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.09917,y=0.99506,z=0.00567)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.10062,y=0.99492,z=0.00610)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.10062,y=0.99492,z=0.00610)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.09903,y=0.99505,z=0.00660)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.09903,y=0.99505,z=0.00660)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.10073,y=0.99490,z=0.00719)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.10073,y=0.99490,z=0.00719)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.09884,y=0.99506,z=0.00791)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.09884,y=0.99506,z=0.00791)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.10088,y=0.99486,z=0.00877)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.10088,y=0.99486,z=0.00877)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.09855,y=0.99508,z=0.00986)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.09855,y=0.99508,z=0.00986)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.10113,y=0.99483,z=0.01124)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.10113,y=0.99483,z=0.01124)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.09808,y=0.99509,z=0.01308)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.09808,y=0.99509,z=0.01308)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.10157,y=0.99469,z=0.01563)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.10157,y=0.99469,z=0.01563)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.09713,y=0.99505,z=0.01943)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.09713,y=0.99505,z=0.01943)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.31461,y=0.94917,z=0.00684)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.31461,y=0.94917,z=0.00684)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.31416,y=0.94932,z=0.00748)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.31416,y=0.94932,z=0.00748)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.31362,y=0.94953,z=0.00825)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.31362,y=0.94953,z=0.00825)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.31296,y=0.94975,z=0.00920)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.31296,y=0.94975,z=0.00920)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.31213,y=0.95001,z=0.01040)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.31213,y=0.95001,z=0.01040)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.31104,y=0.95030,z=0.01196)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.31104,y=0.95030,z=0.01196)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.30962,y=0.95074,z=0.01407)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.30962,y=0.95074,z=0.01407)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.30761,y=0.95138,z=0.01709)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.30761,y=0.95138,z=0.01709)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.77217,y=0.63534,z=0.00677)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.77217,y=0.63534,z=0.00677)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.77267,y=0.63477,z=0.00739)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.77267,y=0.63477,z=0.00739)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.77324,y=0.63406,z=0.00814)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.77324,y=0.63406,z=0.00814)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.77393,y=0.63317,z=0.00905)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.77393,y=0.63317,z=0.00905)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.77456,y=0.63239,z=0.01019)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.77456,y=0.63239,z=0.01019)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.77538,y=0.63138,z=0.01166)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.77538,y=0.63138,z=0.01166)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.77647,y=0.63003,z=0.01362)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.77647,y=0.63003,z=0.01362)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.77798,y=0.62812,z=0.01638)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.77798,y=0.62812,z=0.01638)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.99012,y=-0.13991,z=0.00717)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.99012,y=-0.13991,z=0.00717)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.99009,y=-0.14003,z=0.00789)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.99009,y=-0.14003,z=0.00789)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.99011,y=-0.14019,z=0.00876)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.99011,y=-0.14019,z=0.00876)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.99005,y=-0.14038,z=0.00985)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.99005,y=-0.14038,z=0.00985)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.98998,y=-0.14062,z=0.01125)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.98998,y=-0.14062,z=0.01125)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.98991,y=-0.14095,z=0.01311)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.98991,y=-0.14095,z=0.01311)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.98987,y=-0.14141,z=0.01571)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.98987,y=-0.14141,z=0.01571)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.98971,y=-0.14209,z=0.01960)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.98971,y=-0.14209,z=0.01960)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.64069,y=-0.76774,z=0.00728)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.64069,y=-0.76774,z=0.00728)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.64074,y=-0.76768,z=0.00801)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.64074,y=-0.76768,z=0.00801)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.64083,y=-0.76766,z=0.00890)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.64083,y=-0.76766,z=0.00890)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.64090,y=-0.76757,z=0.01001)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.64090,y=-0.76757,z=0.01001)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.64099,y=-0.76747,z=0.01145)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.64099,y=-0.76747,z=0.01145)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.64111,y=-0.76733,z=0.01336)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.64111,y=-0.76733,z=0.01336)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.64123,y=-0.76723,z=0.01603)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.64123,y=-0.76723,z=0.01603)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.12909,y=-0.99162,z=0.00717)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.12909,y=-0.99162,z=0.00717)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.12997,y=-0.99149,z=0.00788)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.12997,y=-0.99149,z=0.00788)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.13104,y=-0.99136,z=0.00874)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.13104,y=-0.99136,z=0.00874)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.13236,y=-0.99113,z=0.00980)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.13236,y=-0.99113,z=0.00980)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.13406,y=-0.99090,z=0.01117)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.13406,y=-0.99090,z=0.01117)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.13629,y=-0.99058,z=0.01298)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.13629,y=-0.99058,z=0.01298)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.13937,y=-0.99008,z=0.01549)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.13937,y=-0.99008,z=0.01549)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.14391,y=-0.98935,z=0.01919)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.14391,y=-0.98935,z=0.01919)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.76363,y=-0.64561,z=0.00724)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.76363,y=-0.64561,z=0.00724)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.76378,y=-0.64543,z=0.00796)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.76378,y=-0.64543,z=0.00796)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.76397,y=-0.64522,z=0.00883)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.76397,y=-0.64522,z=0.00883)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.76415,y=-0.64496,z=0.00992)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.76415,y=-0.64496,z=0.00992)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.76436,y=-0.64466,z=0.01132)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.76436,y=-0.64466,z=0.01132)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.76467,y=-0.64430,z=0.01318)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.76467,y=-0.64430,z=0.01318)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.76505,y=-0.64382,z=0.01577)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.76505,y=-0.64382,z=0.01577)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.76553,y=-0.64314,z=0.01963)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.76553,y=-0.64314,z=0.01963)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.98148,y=0.19156,z=0.00758)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.98148,y=0.19156,z=0.00758)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.98137,y=0.19191,z=0.00839)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.98137,y=0.19191,z=0.00839)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.98128,y=0.19231,z=0.00939)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.98128,y=0.19231,z=0.00939)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.98118,y=0.19277,z=0.01066)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.98118,y=0.19277,z=0.01066)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.98106,y=0.19331,z=0.01234)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.98106,y=0.19331,z=0.01234)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.98089,y=0.19398,z=0.01464)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.98089,y=0.19398,z=0.01464)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.98066,y=0.19478,z=0.01799)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.98066,y=0.19478,z=0.01799)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.64709,y=0.76237,z=0.00703)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.64709,y=0.76237,z=0.00703)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.64751,y=0.76205,z=0.00771)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.64751,y=0.76205,z=0.00771)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.64795,y=0.76163,z=0.00853)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.64795,y=0.76163,z=0.00853)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.64849,y=0.76116,z=0.00954)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.64849,y=0.76116,z=0.00954)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.64914,y=0.76058,z=0.01082)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.64914,y=0.76058,z=0.01082)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.64996,y=0.75989,z=0.01250)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.64996,y=0.75989,z=0.01250)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.65098,y=0.75891,z=0.01480)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.65098,y=0.75891,z=0.01480)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.65241,y=0.75771,z=0.01812)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.65241,y=0.75771,z=0.01812)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.06689,y=-0.99779,z=0.00239)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.06689,y=-0.99779,z=0.00239)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.06649,y=-0.99782,z=0.00246)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.06649,y=-0.99782,z=0.00246)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.06606,y=-0.99781,z=0.00254)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.06606,y=-0.99781,z=0.00254)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.06560,y=-0.99783,z=0.00262)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.06560,y=-0.99783,z=0.00262)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.06512,y=-0.99789,z=0.00271)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.06512,y=-0.99789,z=0.00271)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.06460,y=-0.99794,z=0.00281)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.06460,y=-0.99794,z=0.00281)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.06404,y=-0.99793,z=0.00291)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.06404,y=-0.99793,z=0.00291)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.06345,y=-0.99802,z=0.00302)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.06345,y=-0.99802,z=0.00302)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.06280,y=-0.99803,z=0.00314)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.06280,y=-0.99803,z=0.00314)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.06210,y=-0.99808,z=0.00327)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.06210,y=-0.99808,z=0.00327)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.06134,y=-0.99814,z=0.00341)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.06134,y=-0.99814,z=0.00341)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.06051,y=-0.99814,z=0.00356)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.06051,y=-0.99814,z=0.00356)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.05960,y=-0.99822,z=0.00373)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.05960,y=-0.99822,z=0.00373)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.06056,y=-0.99818,z=0.00391)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.06056,y=-0.99818,z=0.00391)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.05956,y=-0.99824,z=0.00411)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.05956,y=-0.99824,z=0.00411)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.06062,y=-0.99815,z=0.00433)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.06062,y=-0.99815,z=0.00433)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.05951,y=-0.99821,z=0.00458)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.05951,y=-0.99821,z=0.00458)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.06069,y=-0.99817,z=0.00486)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.06069,y=-0.99817,z=0.00486)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.05945,y=-0.99820,z=0.00517)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.05945,y=-0.99820,z=0.00517)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.06079,y=-0.99816,z=0.00553)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.06079,y=-0.99816,z=0.00553)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.05936,y=-0.99824,z=0.00594)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.05936,y=-0.99824,z=0.00594)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.06091,y=-0.99809,z=0.00641)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.06091,y=-0.99809,z=0.00641)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.05925,y=-0.99822,z=0.00697)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.05925,y=-0.99822,z=0.00697)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.06108,y=-0.99810,z=0.00764)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.06108,y=-0.99810,z=0.00764)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.05909,y=-0.99822,z=0.00844)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.05909,y=-0.99822,z=0.00844)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.06134,y=-0.99806,z=0.00944)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.06134,y=-0.99806,z=0.00944)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.05885,y=-0.99824,z=0.01070)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.05885,y=-0.99824,z=0.01070)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.06175,y=-0.99802,z=0.01235)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.06175,y=-0.99802,z=0.01235)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.05843,y=-0.99817,z=0.01461)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.05843,y=-0.99817,z=0.01461)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.06252,y=-0.99786,z=0.01786)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.06252,y=-0.99786,z=0.01786)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.98990,y=-0.14198,z=0.00327)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.98990,y=-0.14198,z=0.00327)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.98989,y=-0.14204,z=0.00341)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.98989,y=-0.14204,z=0.00341)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.98984,y=-0.14210,z=0.00357)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.98984,y=-0.14210,z=0.00357)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.98988,y=-0.14217,z=0.00374)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.98988,y=-0.14217,z=0.00374)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.98985,y=-0.14224,z=0.00392)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.98985,y=-0.14224,z=0.00392)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.98986,y=-0.14231,z=0.00412)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.98986,y=-0.14231,z=0.00412)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.98985,y=-0.14239,z=0.00435)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.98985,y=-0.14239,z=0.00435)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.98982,y=-0.14247,z=0.00460)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.98982,y=-0.14247,z=0.00460)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.98982,y=-0.14256,z=0.00489)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.98982,y=-0.14256,z=0.00489)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.98975,y=-0.14264,z=0.00521)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.98975,y=-0.14264,z=0.00521)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.98981,y=-0.14276,z=0.00558)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.98981,y=-0.14276,z=0.00558)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.98974,y=-0.14285,z=0.00600)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.98974,y=-0.14285,z=0.00600)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.98972,y=-0.14297,z=0.00649)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.98972,y=-0.14297,z=0.00649)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.98969,y=-0.14310,z=0.00707)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.98969,y=-0.14310,z=0.00707)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.98968,y=-0.14324,z=0.00776)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.98968,y=-0.14324,z=0.00776)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.98962,y=-0.14340,z=0.00861)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.98962,y=-0.14340,z=0.00861)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.98958,y=-0.14357,z=0.00965)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.98958,y=-0.14357,z=0.00965)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.98955,y=-0.14378,z=0.01099)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.98955,y=-0.14378,z=0.01099)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.98947,y=-0.14400,z=0.01277)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.98947,y=-0.14400,z=0.01277)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.98942,y=-0.14429,z=0.01522)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.98942,y=-0.14429,z=0.01522)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.98926,y=-0.14463,z=0.01884)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.98926,y=-0.14463,z=0.01884)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.06717,y=0.99773,z=0.00168)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.06717,y=0.99773,z=0.00168)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.06690,y=0.99777,z=0.00172)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.06690,y=0.99777,z=0.00172)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.06661,y=0.99772,z=0.00175)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.06661,y=0.99772,z=0.00175)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.06631,y=0.99776,z=0.00179)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.06631,y=0.99776,z=0.00179)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.06600,y=0.99780,z=0.00183)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.06600,y=0.99780,z=0.00183)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.06568,y=0.99784,z=0.00188)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.06568,y=0.99784,z=0.00188)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.06533,y=0.99789,z=0.00192)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.06533,y=0.99789,z=0.00192)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.06497,y=0.99784,z=0.00197)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.06497,y=0.99784,z=0.00197)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.06459,y=0.99788,z=0.00202)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.06459,y=0.99788,z=0.00202)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.06420,y=0.99795,z=0.00207)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.06420,y=0.99795,z=0.00207)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.06378,y=0.99793,z=0.00213)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.06378,y=0.99793,z=0.00213)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.06334,y=0.99800,z=0.00218)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.06334,y=0.99800,z=0.00218)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.06288,y=0.99805,z=0.00225)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.06288,y=0.99805,z=0.00225)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.06238,y=0.99802,z=0.00231)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.06238,y=0.99802,z=0.00231)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.06186,y=0.99806,z=0.00238)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.06186,y=0.99806,z=0.00238)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.06130,y=0.99809,z=0.00245)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.06130,y=0.99809,z=0.00245)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.06072,y=0.99820,z=0.00253)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.06072,y=0.99820,z=0.00253)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.06009,y=0.99820,z=0.00261)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.06009,y=0.99820,z=0.00261)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.05942,y=0.99826,z=0.00270)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.05942,y=0.99826,z=0.00270)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.06010,y=0.99819,z=0.00280)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.06010,y=0.99819,z=0.00280)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.05938,y=0.99826,z=0.00290)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.05938,y=0.99826,z=0.00290)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.06010,y=0.99818,z=0.00301)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.06010,y=0.99818,z=0.00301)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.05933,y=0.99822,z=0.00312)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.05933,y=0.99822,z=0.00312)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.06011,y=0.99820,z=0.00325)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.06011,y=0.99820,z=0.00325)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.05928,y=0.99828,z=0.00339)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.05928,y=0.99828,z=0.00339)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.06012,y=0.99817,z=0.00354)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.06012,y=0.99817,z=0.00354)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.05921,y=0.99824,z=0.00370)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.05921,y=0.99824,z=0.00370)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.06014,y=0.99821,z=0.00388)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.06014,y=0.99821,z=0.00388)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.05912,y=0.99824,z=0.00408)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.05912,y=0.99824,z=0.00408)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.06015,y=0.99818,z=0.00430)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.06015,y=0.99818,z=0.00430)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.05903,y=0.99827,z=0.00454)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.05903,y=0.99827,z=0.00454)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.06017,y=0.99818,z=0.00481)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.06017,y=0.99818,z=0.00481)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.05890,y=0.99828,z=0.00512)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.05890,y=0.99828,z=0.00512)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.06019,y=0.99820,z=0.00547)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.06019,y=0.99820,z=0.00547)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.05874,y=0.99826,z=0.00587)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.05874,y=0.99826,z=0.00587)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.06022,y=0.99817,z=0.00634)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.06022,y=0.99817,z=0.00634)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.05852,y=0.99825,z=0.00689)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.05852,y=0.99825,z=0.00689)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.06026,y=0.99816,z=0.00753)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.06026,y=0.99816,z=0.00753)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.05822,y=0.99824,z=0.00832)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.05822,y=0.99824,z=0.00832)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.06032,y=0.99815,z=0.00928)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.06032,y=0.99815,z=0.00928)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.05776,y=0.99827,z=0.01050)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.05776,y=0.99827,z=0.01050)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.06046,y=0.99813,z=0.01209)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.06046,y=0.99813,z=0.01209)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.05701,y=0.99830,z=0.01425)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.05701,y=0.99830,z=0.01425)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.06070,y=0.99801,z=0.01734)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.06070,y=0.99801,z=0.01734)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.54368,y=-0.83933,z=0.00275)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.54368,y=-0.83933,z=0.00275)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.54327,y=-0.83957,z=0.00285)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.54327,y=-0.83957,z=0.00285)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.54283,y=-0.83983,z=0.00296)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.54283,y=-0.83983,z=0.00296)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.54238,y=-0.84016,z=0.00307)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.54238,y=-0.84016,z=0.00307)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.54186,y=-0.84044,z=0.00320)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.54186,y=-0.84044,z=0.00320)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.54132,y=-0.84079,z=0.00333)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.54132,y=-0.84079,z=0.00333)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.54077,y=-0.84120,z=0.00348)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.54077,y=-0.84120,z=0.00348)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.54012,y=-0.84156,z=0.00364)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.54012,y=-0.84156,z=0.00364)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.53945,y=-0.84199,z=0.00381)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.53945,y=-0.84199,z=0.00381)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.54016,y=-0.84157,z=0.00400)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.54016,y=-0.84157,z=0.00400)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.53942,y=-0.84204,z=0.00421)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.53942,y=-0.84204,z=0.00421)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.54016,y=-0.84152,z=0.00445)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.54016,y=-0.84152,z=0.00445)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.53936,y=-0.84209,z=0.00471)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.53936,y=-0.84209,z=0.00471)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.54019,y=-0.84150,z=0.00500)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.54019,y=-0.84150,z=0.00500)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.53928,y=-0.84213,z=0.00534)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.53928,y=-0.84213,z=0.00534)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.54024,y=-0.84148,z=0.00572)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.54024,y=-0.84148,z=0.00572)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.53919,y=-0.84222,z=0.00616)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.53919,y=-0.84222,z=0.00616)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.54030,y=-0.84144,z=0.00667)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.54030,y=-0.84144,z=0.00667)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.53905,y=-0.84226,z=0.00728)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.53905,y=-0.84226,z=0.00728)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.54039,y=-0.84137,z=0.00801)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.54039,y=-0.84137,z=0.00801)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.53884,y=-0.84237,z=0.00891)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.53884,y=-0.84237,z=0.00891)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.54052,y=-0.84131,z=0.01001)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.54052,y=-0.84131,z=0.01001)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.53850,y=-0.84252,z=0.01146)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.53850,y=-0.84252,z=0.01146)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.54068,y=-0.84113,z=0.01335)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.54068,y=-0.84113,z=0.01335)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.53790,y=-0.84281,z=0.01606)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.53790,y=-0.84281,z=0.01606)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.98837,y=-0.15189,z=0.00362)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.98837,y=-0.15189,z=0.00362)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.98839,y=-0.15198,z=0.00379)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.98839,y=-0.15198,z=0.00379)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.98838,y=-0.15206,z=0.00399)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.98838,y=-0.15206,z=0.00399)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.98835,y=-0.15215,z=0.00420)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.98835,y=-0.15215,z=0.00420)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.98834,y=-0.15226,z=0.00443)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.98834,y=-0.15226,z=0.00443)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.98834,y=-0.15236,z=0.00470)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.98834,y=-0.15236,z=0.00470)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.98830,y=-0.15246,z=0.00499)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.98830,y=-0.15246,z=0.00499)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.98831,y=-0.15259,z=0.00533)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.98831,y=-0.15259,z=0.00533)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.98825,y=-0.15272,z=0.00571)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.98825,y=-0.15272,z=0.00571)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.98823,y=-0.15285,z=0.00616)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.98823,y=-0.15285,z=0.00616)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.98823,y=-0.15301,z=0.00668)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.98823,y=-0.15301,z=0.00668)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.98817,y=-0.15315,z=0.00729)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.98817,y=-0.15315,z=0.00729)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.98816,y=-0.15333,z=0.00803)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.98816,y=-0.15333,z=0.00803)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.98811,y=-0.15354,z=0.00894)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.98811,y=-0.15354,z=0.00894)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.98806,y=-0.15375,z=0.01008)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.98806,y=-0.15375,z=0.01008)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.98799,y=-0.15403,z=0.01155)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.98799,y=-0.15403,z=0.01155)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.98795,y=-0.15435,z=0.01353)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.98795,y=-0.15435,z=0.01353)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.98783,y=-0.15471,z=0.01633)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.98783,y=-0.15471,z=0.01633)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.99953,y=-0.02991,z=0.00397)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.99953,y=-0.02991,z=0.00397)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.99953,y=-0.02990,z=0.00417)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.99953,y=-0.02990,z=0.00417)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.99957,y=-0.02990,z=0.00440)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.99957,y=-0.02990,z=0.00440)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.99957,y=-0.02989,z=0.00466)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.99957,y=-0.02989,z=0.00466)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.99954,y=-0.02989,z=0.00495)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.99954,y=-0.02989,z=0.00495)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.99954,y=-0.02988,z=0.00527)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.99954,y=-0.02988,z=0.00527)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.99955,y=-0.02987,z=0.00565)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.99955,y=-0.02987,z=0.00565)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.99953,y=-0.02986,z=0.00608)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.99953,y=-0.02986,z=0.00608)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.99955,y=-0.02985,z=0.00658)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.99955,y=-0.02985,z=0.00658)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.99955,y=-0.02984,z=0.00717)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.99955,y=-0.02984,z=0.00717)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.99952,y=-0.02983,z=0.00787)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.99952,y=-0.02983,z=0.00787)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.99952,y=-0.02981,z=0.00873)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.99952,y=-0.02981,z=0.00873)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.99952,y=-0.02979,z=0.00980)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.99952,y=-0.02979,z=0.00980)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.99950,y=-0.02982,z=0.01117)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.99950,y=-0.02982,z=0.01117)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.99948,y=-0.02979,z=0.01298)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.99948,y=-0.02979,z=0.01298)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.99945,y=-0.02983,z=0.01550)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.99945,y=-0.02983,z=0.01550)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.99933,y=-0.02979,z=0.01922)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.99933,y=-0.02979,z=0.01922)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.41801,y=0.90847,z=0.00260)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.41801,y=0.90847,z=0.00260)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.41848,y=0.90819,z=0.00269)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.41848,y=0.90819,z=0.00269)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.41902,y=0.90796,z=0.00278)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.41902,y=0.90796,z=0.00278)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.41959,y=0.90770,z=0.00288)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.41959,y=0.90770,z=0.00288)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.42021,y=0.90745,z=0.00299)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.42021,y=0.90745,z=0.00299)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.41958,y=0.90775,z=0.00311)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.41958,y=0.90775,z=0.00311)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.42021,y=0.90742,z=0.00323)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.42021,y=0.90742,z=0.00323)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.41954,y=0.90776,z=0.00337)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.41954,y=0.90776,z=0.00337)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.42023,y=0.90741,z=0.00352)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.42023,y=0.90741,z=0.00352)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.41950,y=0.90777,z=0.00368)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.41950,y=0.90777,z=0.00368)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.42026,y=0.90740,z=0.00386)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.42026,y=0.90740,z=0.00386)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.41944,y=0.90778,z=0.00405)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.41944,y=0.90778,z=0.00405)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.42030,y=0.90740,z=0.00427)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.42030,y=0.90740,z=0.00427)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.41937,y=0.90779,z=0.00451)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.41937,y=0.90779,z=0.00451)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.42034,y=0.90736,z=0.00478)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.42034,y=0.90736,z=0.00478)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.41931,y=0.90785,z=0.00508)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.41931,y=0.90785,z=0.00508)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.42039,y=0.90734,z=0.00542)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.42039,y=0.90734,z=0.00542)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.41921,y=0.90789,z=0.00582)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.41921,y=0.90789,z=0.00582)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.42045,y=0.90730,z=0.00628)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.42045,y=0.90730,z=0.00628)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.41909,y=0.90795,z=0.00681)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.41909,y=0.90795,z=0.00681)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.42054,y=0.90725,z=0.00744)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.42054,y=0.90725,z=0.00744)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.41889,y=0.90801,z=0.00821)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.41889,y=0.90801,z=0.00821)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.42067,y=0.90718,z=0.00915)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.42067,y=0.90718,z=0.00915)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.41865,y=0.90811,z=0.01034)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.41865,y=0.90811,z=0.01034)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.42092,y=0.90705,z=0.01186)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.42092,y=0.90705,z=0.01186)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.41824,y=0.90827,z=0.01394)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.41824,y=0.90827,z=0.01394)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.42134,y=0.90671,z=0.01685)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.42134,y=0.90671,z=0.01685)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.03495,y=-0.99937,z=0.00179)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.03495,y=-0.99937,z=0.00179)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.03484,y=-0.99945,z=0.00183)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.03484,y=-0.99945,z=0.00183)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.03472,y=-0.99944,z=0.00188)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.03472,y=-0.99944,z=0.00188)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.03459,y=-0.99942,z=0.00192)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.03459,y=-0.99942,z=0.00192)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.03446,y=-0.99941,z=0.00197)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.03446,y=-0.99941,z=0.00197)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.03432,y=-0.99943,z=0.00202)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.03432,y=-0.99943,z=0.00202)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.03417,y=-0.99939,z=0.00207)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.03417,y=-0.99939,z=0.00207)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.03402,y=-0.99946,z=0.00213)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.03402,y=-0.99946,z=0.00213)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.03386,y=-0.99944,z=0.00218)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.03386,y=-0.99944,z=0.00218)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.03368,y=-0.99947,z=0.00225)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.03368,y=-0.99947,z=0.00225)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.03350,y=-0.99944,z=0.00231)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.03350,y=-0.99944,z=0.00231)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.03331,y=-0.99948,z=0.00238)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.03331,y=-0.99948,z=0.00238)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.03310,y=-0.99942,z=0.00245)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.03310,y=-0.99942,z=0.00245)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.03288,y=-0.99944,z=0.00253)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.03288,y=-0.99944,z=0.00253)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.03265,y=-0.99944,z=0.00261)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.03265,y=-0.99944,z=0.00261)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.03241,y=-0.99945,z=0.00270)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.03241,y=-0.99945,z=0.00270)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.03214,y=-0.99946,z=0.00279)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.03214,y=-0.99946,z=0.00279)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.03186,y=-0.99947,z=0.00290)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.03186,y=-0.99947,z=0.00290)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.03155,y=-0.99947,z=0.00300)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.03155,y=-0.99947,z=0.00300)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.03122,y=-0.99951,z=0.00312)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.03122,y=-0.99951,z=0.00312)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.03087,y=-0.99951,z=0.00325)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.03087,y=-0.99951,z=0.00325)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.03048,y=-0.99952,z=0.00339)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.03048,y=-0.99952,z=0.00339)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.03006,y=-0.99955,z=0.00354)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.03006,y=-0.99955,z=0.00354)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.02960,y=-0.99956,z=0.00370)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.02960,y=-0.99956,z=0.00370)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.02910,y=-0.99960,z=0.00388)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.02910,y=-0.99960,z=0.00388)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.02854,y=-0.99962,z=0.00408)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.02854,y=-0.99962,z=0.00408)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.02793,y=-0.99962,z=0.00430)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.02793,y=-0.99962,z=0.00430)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.02724,y=-0.99962,z=0.00454)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.02724,y=-0.99962,z=0.00454)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.02647,y=-0.99962,z=0.00481)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.02647,y=-0.99962,z=0.00481)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.02561,y=-0.99967,z=0.00512)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.02561,y=-0.99967,z=0.00512)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.02463,y=-0.99969,z=0.00547)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.02463,y=-0.99969,z=0.00547)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.02350,y=-0.99973,z=0.00587)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.02350,y=-0.99973,z=0.00587)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.02219,y=-0.99975,z=0.00634)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.02219,y=-0.99975,z=0.00634)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.02066,y=-0.99976,z=0.00689)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.02066,y=-0.99976,z=0.00689)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.01884,y=-0.99980,z=0.00753)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.01884,y=-0.99980,z=0.00753)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.02079,y=-0.99974,z=0.00832)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.02079,y=-0.99974,z=0.00832)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.01856,y=-0.99977,z=0.00928)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.01856,y=-0.99977,z=0.00928)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.02100,y=-0.99973,z=0.01050)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.02100,y=-0.99973,z=0.01050)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.01813,y=-0.99976,z=0.01209)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.01813,y=-0.99976,z=0.01209)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.02135,y=-0.99964,z=0.01423)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.02135,y=-0.99964,z=0.01423)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.01732,y=-0.99974,z=0.01732)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.01732,y=-0.99974,z=0.01732)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.97557,y=-0.21957,z=0.00485)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.97557,y=-0.21957,z=0.00485)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.97566,y=-0.21936,z=0.00516)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.97566,y=-0.21936,z=0.00516)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.97569,y=-0.21913,z=0.00551)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.97569,y=-0.21913,z=0.00551)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.97574,y=-0.21888,z=0.00591)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.97574,y=-0.21888,z=0.00591)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.97580,y=-0.21861,z=0.00638)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.97580,y=-0.21861,z=0.00638)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.97583,y=-0.21831,z=0.00692)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.97583,y=-0.21831,z=0.00692)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.97591,y=-0.21799,z=0.00757)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.97591,y=-0.21799,z=0.00757)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.97597,y=-0.21763,z=0.00834)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.97597,y=-0.21763,z=0.00834)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.97606,y=-0.21724,z=0.00930)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.97606,y=-0.21724,z=0.00930)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.97617,y=-0.21679,z=0.01050)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.97617,y=-0.21679,z=0.01050)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.97626,y=-0.21627,z=0.01205)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.97626,y=-0.21627,z=0.01205)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.97636,y=-0.21566,z=0.01415)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.97636,y=-0.21566,z=0.01415)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.97644,y=-0.21490,z=0.01713)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.97644,y=-0.21490,z=0.01713)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.07603,y=0.99713,z=0.00169)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.07603,y=0.99713,z=0.00169)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.07595,y=0.99716,z=0.00173)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.07595,y=0.99716,z=0.00173)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.07586,y=0.99709,z=0.00176)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.07586,y=0.99709,z=0.00176)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.07576,y=0.99712,z=0.00180)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.07576,y=0.99712,z=0.00180)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.07567,y=0.99713,z=0.00185)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.07567,y=0.99713,z=0.00185)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.07557,y=0.99716,z=0.00189)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.07557,y=0.99716,z=0.00189)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.07546,y=0.99719,z=0.00194)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.07546,y=0.99719,z=0.00194)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.07534,y=0.99713,z=0.00198)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.07534,y=0.99713,z=0.00198)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.07523,y=0.99713,z=0.00203)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.07523,y=0.99713,z=0.00203)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.07511,y=0.99722,z=0.00209)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.07511,y=0.99722,z=0.00209)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.07498,y=0.99718,z=0.00214)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.07498,y=0.99718,z=0.00214)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.07484,y=0.99721,z=0.00220)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.07484,y=0.99721,z=0.00220)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.07469,y=0.99717,z=0.00226)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.07469,y=0.99717,z=0.00226)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.07454,y=0.99722,z=0.00233)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.07454,y=0.99722,z=0.00233)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.07437,y=0.99719,z=0.00240)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.07437,y=0.99719,z=0.00240)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.07421,y=0.99728,z=0.00247)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.07421,y=0.99728,z=0.00247)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.07402,y=0.99724,z=0.00255)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.07402,y=0.99724,z=0.00255)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.07383,y=0.99727,z=0.00264)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.07383,y=0.99727,z=0.00264)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.07361,y=0.99725,z=0.00273)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.07361,y=0.99725,z=0.00273)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.07339,y=0.99732,z=0.00282)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.07339,y=0.99732,z=0.00282)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.07315,y=0.99731,z=0.00293)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.07315,y=0.99731,z=0.00293)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.07289,y=0.99736,z=0.00304)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.07289,y=0.99736,z=0.00304)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.07261,y=0.99734,z=0.00316)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.07261,y=0.99734,z=0.00316)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.07231,y=0.99738,z=0.00329)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.07231,y=0.99738,z=0.00329)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.07198,y=0.99744,z=0.00343)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.07198,y=0.99744,z=0.00343)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.07162,y=0.99742,z=0.00358)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.07162,y=0.99742,z=0.00358)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.07124,y=0.99746,z=0.00375)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.07124,y=0.99746,z=0.00375)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.07081,y=0.99746,z=0.00393)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.07081,y=0.99746,z=0.00393)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.07033,y=0.99750,z=0.00414)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.07033,y=0.99750,z=0.00414)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.06981,y=0.99753,z=0.00436)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.06981,y=0.99753,z=0.00436)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.06922,y=0.99760,z=0.00462)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.06922,y=0.99760,z=0.00462)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.06857,y=0.99766,z=0.00490)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.06857,y=0.99766,z=0.00490)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.06783,y=0.99770,z=0.00522)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.06783,y=0.99770,z=0.00522)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.06698,y=0.99774,z=0.00558)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.06698,y=0.99774,z=0.00558)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.06601,y=0.99784,z=0.00600)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.06601,y=0.99784,z=0.00600)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.06488,y=0.99786,z=0.00649)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.06488,y=0.99786,z=0.00649)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.06355,y=0.99797,z=0.00706)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.06355,y=0.99797,z=0.00706)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.06196,y=0.99807,z=0.00775)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.06196,y=0.99807,z=0.00775)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.06003,y=0.99816,z=0.00858)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.06003,y=0.99816,z=0.00858)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.05764,y=0.99826,z=0.00961)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.05764,y=0.99826,z=0.00961)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.06003,y=0.99814,z=0.01091)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.06003,y=0.99814,z=0.01091)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.05690,y=0.99829,z=0.01264)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.05690,y=0.99829,z=0.01264)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.06008,y=0.99812,z=0.01502)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.06008,y=0.99812,z=0.01502)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.05551,y=0.99833,z=0.01851)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.05551,y=0.99833,z=0.01851)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99421,y=0.10724,z=0.00652)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99421,y=0.10724,z=0.00652)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99422,y=0.10723,z=0.00710)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99422,y=0.10723,z=0.00710)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99419,y=0.10722,z=0.00780)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99419,y=0.10722,z=0.00780)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99420,y=0.10720,z=0.00865)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99420,y=0.10720,z=0.00865)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99419,y=0.10718,z=0.00970)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99419,y=0.10718,z=0.00970)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99419,y=0.10715,z=0.01105)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99419,y=0.10715,z=0.01105)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99417,y=0.10711,z=0.01283)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99417,y=0.10711,z=0.01283)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99411,y=0.10706,z=0.01529)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99411,y=0.10706,z=0.01529)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99404,y=0.10698,z=0.01893)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99404,y=0.10698,z=0.01893)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.95060,y=-0.31030,z=0.00679)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.95060,y=-0.31030,z=0.00679)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.95058,y=-0.31042,z=0.00743)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.95058,y=-0.31042,z=0.00743)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.95050,y=-0.31055,z=0.00819)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.95050,y=-0.31055,z=0.00819)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.95046,y=-0.31073,z=0.00914)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.95046,y=-0.31073,z=0.00914)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.95036,y=-0.31093,z=0.01033)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.95036,y=-0.31093,z=0.01033)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.95029,y=-0.31122,z=0.01188)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.95029,y=-0.31122,z=0.01188)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.95012,y=-0.31158,z=0.01397)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.95012,y=-0.31158,z=0.01397)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.94987,y=-0.31210,z=0.01696)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.94987,y=-0.31210,z=0.01696)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.79916,y=-0.60105,z=0.00672)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.79916,y=-0.60105,z=0.00672)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.79910,y=-0.60116,z=0.00733)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.79910,y=-0.60116,z=0.00733)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.79899,y=-0.60126,z=0.00807)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.79899,y=-0.60126,z=0.00807)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.79888,y=-0.60141,z=0.00898)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.79888,y=-0.60141,z=0.00898)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.79875,y=-0.60159,z=0.01011)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.79875,y=-0.60159,z=0.01011)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.79856,y=-0.60182,z=0.01157)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.79856,y=-0.60182,z=0.01157)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.79848,y=-0.60191,z=0.01353)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.79848,y=-0.60191,z=0.01353)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.79831,y=-0.60199,z=0.01629)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.79831,y=-0.60199,z=0.01629)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.33596,y=-0.94187,z=0.00525)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.33596,y=-0.94187,z=0.00525)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.33696,y=-0.94152,z=0.00562)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.33696,y=-0.94152,z=0.00562)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.33809,y=-0.94111,z=0.00604)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.33809,y=-0.94111,z=0.00604)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.33939,y=-0.94061,z=0.00653)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.33939,y=-0.94061,z=0.00653)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.34091,y=-0.94005,z=0.00710)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.34091,y=-0.94005,z=0.00710)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.33926,y=-0.94064,z=0.00780)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.33926,y=-0.94064,z=0.00780)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.34111,y=-0.93999,z=0.00864)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.34111,y=-0.93999,z=0.00864)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.33908,y=-0.94070,z=0.00969)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.33908,y=-0.94070,z=0.00969)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.34141,y=-0.93987,z=0.01101)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.34141,y=-0.93987,z=0.01101)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.33879,y=-0.94080,z=0.01278)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.33879,y=-0.94080,z=0.01278)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.34192,y=-0.93959,z=0.01520)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.34192,y=-0.93959,z=0.01520)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.33816,y=-0.94092,z=0.01879)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.33816,y=-0.94092,z=0.01879)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.05831,y=-0.99831,z=0.00530)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.05831,y=-0.99831,z=0.00530)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.05960,y=-0.99820,z=0.00568)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.05960,y=-0.99820,z=0.00568)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.06110,y=-0.99813,z=0.00611)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.06110,y=-0.99813,z=0.00611)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.05954,y=-0.99820,z=0.00662)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.05954,y=-0.99820,z=0.00662)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.06129,y=-0.99809,z=0.00721)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.06129,y=-0.99809,z=0.00721)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.05944,y=-0.99819,z=0.00793)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.05944,y=-0.99819,z=0.00793)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.06157,y=-0.99806,z=0.00880)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.06157,y=-0.99806,z=0.00880)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.05930,y=-0.99817,z=0.00988)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.05930,y=-0.99817,z=0.00988)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.06201,y=-0.99803,z=0.01128)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.06201,y=-0.99803,z=0.01128)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.05907,y=-0.99817,z=0.01313)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.05907,y=-0.99817,z=0.01313)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.06279,y=-0.99788,z=0.01570)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.06279,y=-0.99788,z=0.01570)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.05860,y=-0.99805,z=0.01953)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.05860,y=-0.99805,z=0.01953)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.56347,y=-0.82609,z=0.00727)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.56347,y=-0.82609,z=0.00727)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.56370,y=-0.82593,z=0.00800)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.56370,y=-0.82593,z=0.00800)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.56399,y=-0.82574,z=0.00888)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.56399,y=-0.82574,z=0.00888)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.56432,y=-0.82551,z=0.00999)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.56432,y=-0.82551,z=0.00999)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.56472,y=-0.82517,z=0.01141)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.56472,y=-0.82517,z=0.01141)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.56528,y=-0.82484,z=0.01330)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.56528,y=-0.82484,z=0.01330)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.56592,y=-0.82425,z=0.01594)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.56592,y=-0.82425,z=0.01594)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.56694,y=-0.82355,z=0.01989)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.56694,y=-0.82355,z=0.01989)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.83172,y=-0.55520,z=0.00685)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.83172,y=-0.55520,z=0.00685)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.83146,y=-0.55554,z=0.00749)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.83146,y=-0.55554,z=0.00749)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.83120,y=-0.55595,z=0.00827)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.83120,y=-0.55595,z=0.00827)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.83088,y=-0.55641,z=0.00923)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.83088,y=-0.55641,z=0.00923)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.83050,y=-0.55696,z=0.01045)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.83050,y=-0.55696,z=0.01045)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.83003,y=-0.55762,z=0.01203)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.83003,y=-0.55762,z=0.01203)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.82944,y=-0.55842,z=0.01418)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.82944,y=-0.55842,z=0.01418)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.82873,y=-0.55948,z=0.01726)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.82873,y=-0.55948,z=0.01726)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.96574,y=-0.25964,z=0.00515)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.96574,y=-0.25964,z=0.00515)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.96571,y=-0.25953,z=0.00550)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.96571,y=-0.25953,z=0.00550)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.96573,y=-0.25942,z=0.00591)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.96573,y=-0.25942,z=0.00591)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.96578,y=-0.25931,z=0.00637)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.96578,y=-0.25931,z=0.00637)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.96579,y=-0.25918,z=0.00692)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.96579,y=-0.25918,z=0.00692)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.96584,y=-0.25905,z=0.00758)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.96584,y=-0.25905,z=0.00758)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.96588,y=-0.25890,z=0.00836)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.96588,y=-0.25890,z=0.00836)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.96588,y=-0.25872,z=0.00933)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.96588,y=-0.25872,z=0.00933)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.96595,y=-0.25853,z=0.01056)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.96595,y=-0.25853,z=0.01056)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.96597,y=-0.25829,z=0.01215)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.96597,y=-0.25829,z=0.01215)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.96601,y=-0.25802,z=0.01431)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.96601,y=-0.25802,z=0.01431)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.96606,y=-0.25768,z=0.01741)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.96606,y=-0.25768,z=0.01741)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99226,y=0.12423,z=0.00196)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99226,y=0.12423,z=0.00196)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99225,y=0.12426,z=0.00201)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99225,y=0.12426,z=0.00201)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99228,y=0.12429,z=0.00206)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99228,y=0.12429,z=0.00206)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99222,y=0.12431,z=0.00212)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99222,y=0.12431,z=0.00212)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99225,y=0.12434,z=0.00217)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99225,y=0.12434,z=0.00217)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99225,y=0.12437,z=0.00223)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99225,y=0.12437,z=0.00223)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99219,y=0.12439,z=0.00230)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99219,y=0.12439,z=0.00230)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99219,y=0.12441,z=0.00237)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99219,y=0.12441,z=0.00237)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99219,y=0.12444,z=0.00244)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99219,y=0.12444,z=0.00244)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99225,y=0.12448,z=0.00252)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99225,y=0.12448,z=0.00252)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99221,y=0.12451,z=0.00260)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99221,y=0.12451,z=0.00260)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99224,y=0.12455,z=0.00269)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99224,y=0.12455,z=0.00269)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99221,y=0.12457,z=0.00278)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99221,y=0.12457,z=0.00278)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99223,y=0.12461,z=0.00288)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99223,y=0.12461,z=0.00288)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99218,y=0.12464,z=0.00299)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99218,y=0.12464,z=0.00299)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99222,y=0.12469,z=0.00311)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99222,y=0.12469,z=0.00311)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99220,y=0.12472,z=0.00324)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99220,y=0.12472,z=0.00324)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99219,y=0.12476,z=0.00337)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99219,y=0.12476,z=0.00337)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99217,y=0.12481,z=0.00352)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99217,y=0.12481,z=0.00352)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99218,y=0.12485,z=0.00369)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99218,y=0.12485,z=0.00369)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99214,y=0.12490,z=0.00387)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99214,y=0.12490,z=0.00387)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99215,y=0.12495,z=0.00407)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99215,y=0.12495,z=0.00407)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99216,y=0.12500,z=0.00429)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99216,y=0.12500,z=0.00429)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99216,y=0.12505,z=0.00453)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99216,y=0.12505,z=0.00453)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99215,y=0.12511,z=0.00480)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99215,y=0.12511,z=0.00480)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99212,y=0.12517,z=0.00511)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99212,y=0.12517,z=0.00511)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99212,y=0.12523,z=0.00547)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99212,y=0.12523,z=0.00547)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99213,y=0.12531,z=0.00587)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99213,y=0.12531,z=0.00587)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99208,y=0.12539,z=0.00634)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99208,y=0.12539,z=0.00634)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99207,y=0.12549,z=0.00689)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99207,y=0.12549,z=0.00689)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99204,y=0.12557,z=0.00754)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99204,y=0.12557,z=0.00754)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99203,y=0.12567,z=0.00834)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99203,y=0.12567,z=0.00834)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99198,y=0.12579,z=0.00931)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99198,y=0.12579,z=0.00931)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99198,y=0.12595,z=0.01055)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99198,y=0.12595,z=0.01055)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99197,y=0.12610,z=0.01217)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99197,y=0.12610,z=0.01217)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99188,y=0.12628,z=0.01438)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99188,y=0.12628,z=0.01438)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99183,y=0.12648,z=0.01756)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99183,y=0.12648,z=0.01756)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.07421,y=0.99715,z=0.01237)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.07421,y=0.99715,z=0.01237)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.07315,y=0.99722,z=0.01463)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.07315,y=0.99722,z=0.01463)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.07162,y=0.99723,z=0.01791)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.07162,y=0.99723,z=0.01791)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.34703,y=0.93784,z=0.00655)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.34703,y=0.93784,z=0.00655)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.34602,y=0.93821,z=0.00713)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.34602,y=0.93821,z=0.00713)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.34480,y=0.93864,z=0.00784)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.34480,y=0.93864,z=0.00784)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.34334,y=0.93915,z=0.00869)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.34334,y=0.93915,z=0.00869)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.34154,y=0.93978,z=0.00976)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.34154,y=0.93978,z=0.00976)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.33926,y=0.94059,z=0.01112)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.33926,y=0.94059,z=0.01112)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.34202,y=0.93960,z=0.01291)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.34202,y=0.93960,z=0.01291)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.33896,y=0.94069,z=0.01541)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.33896,y=0.94069,z=0.01541)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.34292,y=0.93913,z=0.01905)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.34292,y=0.93913,z=0.01905)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.09767,y=0.99518,z=0.00723)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.09767,y=0.99518,z=0.00723)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.09941,y=0.99504,z=0.00795)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.09941,y=0.99504,z=0.00795)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.10153,y=0.99479,z=0.00883)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.10153,y=0.99479,z=0.00883)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.09927,y=0.99504,z=0.00993)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.09927,y=0.99504,z=0.00993)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.10197,y=0.99474,z=0.01133)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.10197,y=0.99474,z=0.01133)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.09902,y=0.99498,z=0.01320)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.09902,y=0.99498,z=0.01320)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.10273,y=0.99455,z=0.01580)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.10273,y=0.99455,z=0.01580)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.09851,y=0.99497,z=0.01970)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.09851,y=0.99497,z=0.01970)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.31608,y=0.94870,z=0.00687)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.31608,y=0.94870,z=0.00687)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.31576,y=0.94881,z=0.00752)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.31576,y=0.94881,z=0.00752)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.31535,y=0.94893,z=0.00830)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.31535,y=0.94893,z=0.00830)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.31486,y=0.94907,z=0.00926)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.31486,y=0.94907,z=0.00926)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.31427,y=0.94930,z=0.01048)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.31427,y=0.94930,z=0.01048)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.31348,y=0.94955,z=0.01206)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.31348,y=0.94955,z=0.01206)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.31244,y=0.94987,z=0.01420)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.31244,y=0.94987,z=0.01420)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.31094,y=0.95025,z=0.01727)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.31094,y=0.95025,z=0.01727)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.47635,y=0.87924,z=0.00744)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.47635,y=0.87924,z=0.00744)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.47605,y=0.87938,z=0.00821)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.47605,y=0.87938,z=0.00821)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.47569,y=0.87956,z=0.00915)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.47569,y=0.87956,z=0.00915)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.47525,y=0.87979,z=0.01033)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.47525,y=0.87979,z=0.01033)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.47470,y=0.88009,z=0.01187)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.47470,y=0.88009,z=0.01187)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.47397,y=0.88046,z=0.01394)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.47397,y=0.88046,z=0.01394)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.47293,y=0.88092,z=0.01689)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.47293,y=0.88092,z=0.01689)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.80110,y=0.59849,z=0.00657)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.80110,y=0.59849,z=0.00657)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.80111,y=0.59844,z=0.00715)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.80111,y=0.59844,z=0.00715)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.80117,y=0.59840,z=0.00785)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.80117,y=0.59840,z=0.00785)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.80123,y=0.59831,z=0.00871)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.80123,y=0.59831,z=0.00871)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.80137,y=0.59810,z=0.00977)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.80137,y=0.59810,z=0.00977)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.80156,y=0.59783,z=0.01113)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.80156,y=0.59783,z=0.01113)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.80150,y=0.59789,z=0.01293)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.80150,y=0.59789,z=0.01293)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.80135,y=0.59793,z=0.01541)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.80135,y=0.59793,z=0.01541)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.80122,y=0.59805,z=0.01908)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.80122,y=0.59805,z=0.01908)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.95484,y=0.29710,z=0.00608)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.95484,y=0.29710,z=0.00608)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.95477,y=0.29729,z=0.00658)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.95477,y=0.29729,z=0.00658)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.95467,y=0.29753,z=0.00718)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.95467,y=0.29753,z=0.00718)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.95459,y=0.29782,z=0.00789)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.95459,y=0.29782,z=0.00789)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.95447,y=0.29816,z=0.00876)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.95447,y=0.29816,z=0.00876)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.95448,y=0.29815,z=0.00984)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.95448,y=0.29815,z=0.00984)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.95446,y=0.29813,z=0.01123)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.95446,y=0.29813,z=0.01123)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.95443,y=0.29810,z=0.01307)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.95443,y=0.29810,z=0.01307)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.95439,y=0.29805,z=0.01565)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.95439,y=0.29805,z=0.01565)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.95442,y=0.29801,z=0.01948)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.95442,y=0.29801,z=0.01948)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99281,y=-0.11923,z=0.00886)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99281,y=-0.11923,z=0.00886)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99281,y=-0.11924,z=0.00998)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99281,y=-0.11924,z=0.00998)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99281,y=-0.11925,z=0.01141)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99281,y=-0.11925,z=0.01141)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99280,y=-0.11927,z=0.01333)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99280,y=-0.11927,z=0.01333)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99272,y=-0.11929,z=0.01601)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99272,y=-0.11929,z=0.01601)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> accel: 4
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.99920,y=-0.03950,z=0.00664)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.99920,y=-0.03950,z=0.00664)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.99920,y=-0.03946,z=0.00724)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.99920,y=-0.03946,z=0.00724)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.99921,y=-0.03941,z=0.00796)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.99921,y=-0.03941,z=0.00796)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.99921,y=-0.03935,z=0.00884)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.99921,y=-0.03935,z=0.00884)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.99921,y=-0.03927,z=0.00994)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.99921,y=-0.03927,z=0.00994)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.99915,y=-0.03917,z=0.01135)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.99915,y=-0.03917,z=0.01135)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.99914,y=-0.03904,z=0.01323)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.99914,y=-0.03904,z=0.01323)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.99913,y=-0.03886,z=0.01586)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.99913,y=-0.03886,z=0.01586)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.99911,y=-0.03858,z=0.01978)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.99911,y=-0.03858,z=0.01978)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.93699,y=-0.34934,z=0.00679)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.93699,y=-0.34934,z=0.00679)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.93711,y=-0.34892,z=0.00741)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.93711,y=-0.34892,z=0.00741)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.93727,y=-0.34842,z=0.00815)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.93727,y=-0.34842,z=0.00815)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.93750,y=-0.34783,z=0.00906)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.93750,y=-0.34783,z=0.00906)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.93777,y=-0.34708,z=0.01019)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.93777,y=-0.34708,z=0.01019)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.93811,y=-0.34611,z=0.01165)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.93811,y=-0.34611,z=0.01165)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.93858,y=-0.34483,z=0.01360)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.93858,y=-0.34483,z=0.01360)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.93893,y=-0.34373,z=0.01633)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.93893,y=-0.34373,z=0.01633)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.72292,y=-0.69091,z=0.00753)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.72292,y=-0.69091,z=0.00753)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.72311,y=-0.69069,z=0.00831)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.72311,y=-0.69069,z=0.00831)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.72336,y=-0.69043,z=0.00927)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.72336,y=-0.69043,z=0.00927)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.72364,y=-0.69008,z=0.01049)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.72364,y=-0.69008,z=0.01049)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.72407,y=-0.68967,z=0.01207)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.72407,y=-0.68967,z=0.01207)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.72433,y=-0.68925,z=0.01420)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.72433,y=-0.68925,z=0.01420)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.72476,y=-0.68878,z=0.01726)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.72476,y=-0.68878,z=0.01726)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.53430,y=-0.84526,z=0.00644)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.53430,y=-0.84526,z=0.00644)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.53519,y=-0.84470,z=0.00700)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.53519,y=-0.84470,z=0.00700)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.53623,y=-0.84402,z=0.00766)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.53623,y=-0.84402,z=0.00766)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.53745,y=-0.84325,z=0.00846)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.53745,y=-0.84325,z=0.00846)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.53890,y=-0.84229,z=0.00945)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.53890,y=-0.84229,z=0.00945)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.54071,y=-0.84116,z=0.01071)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.54071,y=-0.84116,z=0.01071)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.53860,y=-0.84251,z=0.01238)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.53860,y=-0.84251,z=0.01238)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.54098,y=-0.84093,z=0.01462)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.54098,y=-0.84093,z=0.01462)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.53792,y=-0.84284,z=0.01793)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.53792,y=-0.84284,z=0.01793)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.16970,y=-0.98548,z=0.00722)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.16970,y=-0.98548,z=0.00722)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.17064,y=-0.98533,z=0.00794)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.17064,y=-0.98533,z=0.00794)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.17177,y=-0.98511,z=0.00881)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.17177,y=-0.98511,z=0.00881)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.17318,y=-0.98485,z=0.00990)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.17318,y=-0.98485,z=0.00990)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.17498,y=-0.98453,z=0.01129)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.17498,y=-0.98453,z=0.01129)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.17735,y=-0.98404,z=0.01314)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.17735,y=-0.98404,z=0.01314)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.18065,y=-0.98342,z=0.01571)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.18065,y=-0.98342,z=0.01571)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.17606,y=-0.98415,z=0.01956)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.17606,y=-0.98415,z=0.01956)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.29747,y=-0.95473,z=0.00692)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.29747,y=-0.95473,z=0.00692)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.29897,y=-0.95424,z=0.00757)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.29897,y=-0.95424,z=0.00757)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.30078,y=-0.95368,z=0.00835)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.30078,y=-0.95368,z=0.00835)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.29873,y=-0.95431,z=0.00934)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.29873,y=-0.95431,z=0.00934)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.30098,y=-0.95359,z=0.01056)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.30098,y=-0.95359,z=0.01056)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.29835,y=-0.95440,z=0.01218)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.29835,y=-0.95440,z=0.01218)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.30133,y=-0.95343,z=0.01435)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.30133,y=-0.95343,z=0.01435)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.29759,y=-0.95448,z=0.01750)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.29759,y=-0.95448,z=0.01750)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.47512,y=-0.87987,z=0.00748)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.47512,y=-0.87987,z=0.00748)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.47473,y=-0.88007,z=0.00826)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.47473,y=-0.88007,z=0.00826)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.47426,y=-0.88033,z=0.00921)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.47426,y=-0.88033,z=0.00921)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.47369,y=-0.88065,z=0.01041)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.47369,y=-0.88065,z=0.01041)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.47294,y=-0.88099,z=0.01197)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.47294,y=-0.88099,z=0.01197)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.47196,y=-0.88151,z=0.01409)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.47196,y=-0.88151,z=0.01409)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.47061,y=-0.88218,z=0.01711)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.47061,y=-0.88218,z=0.01711)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.80188,y=-0.59745,z=0.00660)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.80188,y=-0.59745,z=0.00660)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.80193,y=-0.59735,z=0.00719)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.80193,y=-0.59735,z=0.00719)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.80199,y=-0.59727,z=0.00790)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.80199,y=-0.59727,z=0.00790)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.80207,y=-0.59717,z=0.00877)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.80207,y=-0.59717,z=0.00877)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.80217,y=-0.59705,z=0.00984)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.80217,y=-0.59705,z=0.00984)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.80224,y=-0.59686,z=0.01122)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.80224,y=-0.59686,z=0.01122)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.80235,y=-0.59668,z=0.01305)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.80235,y=-0.59668,z=0.01305)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.80249,y=-0.59642,z=0.01558)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.80249,y=-0.59642,z=0.01558)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.80271,y=-0.59613,z=0.01934)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.80271,y=-0.59613,z=0.01934)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.95540,y=-0.29528,z=0.00610)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.95540,y=-0.29528,z=0.00610)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.95538,y=-0.29539,z=0.00661)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.95538,y=-0.29539,z=0.00661)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.95530,y=-0.29549,z=0.00721)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.95530,y=-0.29549,z=0.00721)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.95525,y=-0.29562,z=0.00793)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.95525,y=-0.29562,z=0.00793)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.95523,y=-0.29578,z=0.00880)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.95523,y=-0.29578,z=0.00880)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.95516,y=-0.29594,z=0.00990)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.95516,y=-0.29594,z=0.00990)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.95507,y=-0.29613,z=0.01130)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.95507,y=-0.29613,z=0.01130)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.95496,y=-0.29635,z=0.01317)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.95496,y=-0.29635,z=0.01317)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.95486,y=-0.29662,z=0.01578)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.95486,y=-0.29662,z=0.01578)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.95472,y=-0.29697,z=0.01969)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.95472,y=-0.29697,z=0.01969)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99257,y=0.12130,z=0.00890)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99257,y=0.12130,z=0.00890)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99253,y=0.12141,z=0.01003)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99253,y=0.12141,z=0.01003)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99254,y=0.12154,z=0.01147)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99254,y=0.12154,z=0.01147)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99249,y=0.12169,z=0.01341)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99249,y=0.12169,z=0.01341)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99241,y=0.12187,z=0.01614)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99241,y=0.12187,z=0.01614)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99856,y=-0.05428,z=0.00286)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99856,y=-0.05428,z=0.00286)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99853,y=-0.05428,z=0.00297)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99853,y=-0.05428,z=0.00297)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99857,y=-0.05429,z=0.00308)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99857,y=-0.05429,z=0.00308)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99854,y=-0.05429,z=0.00321)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99854,y=-0.05429,z=0.00321)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99854,y=-0.05429,z=0.00334)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99854,y=-0.05429,z=0.00334)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99851,y=-0.05430,z=0.00349)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99851,y=-0.05430,z=0.00349)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99851,y=-0.05430,z=0.00364)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99851,y=-0.05430,z=0.00364)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99851,y=-0.05430,z=0.00382)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99851,y=-0.05430,z=0.00382)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99854,y=-0.05431,z=0.00401)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99854,y=-0.05431,z=0.00401)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99850,y=-0.05431,z=0.00422)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99850,y=-0.05431,z=0.00422)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99855,y=-0.05432,z=0.00446)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99855,y=-0.05432,z=0.00446)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99853,y=-0.05432,z=0.00472)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99853,y=-0.05432,z=0.00472)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99854,y=-0.05433,z=0.00502)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99854,y=-0.05433,z=0.00502)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99852,y=-0.05433,z=0.00535)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99852,y=-0.05433,z=0.00535)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99855,y=-0.05434,z=0.00574)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99855,y=-0.05434,z=0.00574)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99852,y=-0.05435,z=0.00618)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99852,y=-0.05435,z=0.00618)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99848,y=-0.05435,z=0.00670)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99848,y=-0.05435,z=0.00670)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99850,y=-0.05436,z=0.00732)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99850,y=-0.05436,z=0.00732)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99852,y=-0.05437,z=0.00805)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99852,y=-0.05437,z=0.00805)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99848,y=-0.05437,z=0.00895)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99848,y=-0.05437,z=0.00895)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99849,y=-0.05439,z=0.01009)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99849,y=-0.05439,z=0.01009)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99843,y=-0.05440,z=0.01154)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99843,y=-0.05440,z=0.01154)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99845,y=-0.05441,z=0.01349)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99845,y=-0.05441,z=0.01349)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99838,y=-0.05443,z=0.01623)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99838,y=-0.05443,z=0.01623)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.08176,y=0.99667,z=0.00167)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.08176,y=0.99667,z=0.00167)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.08180,y=0.99668,z=0.00170)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.08180,y=0.99668,z=0.00170)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.08183,y=0.99661,z=0.00174)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.08183,y=0.99661,z=0.00174)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.08187,y=0.99662,z=0.00178)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.08187,y=0.99662,z=0.00178)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.08192,y=0.99664,z=0.00182)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.08192,y=0.99664,z=0.00182)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.08196,y=0.99665,z=0.00186)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.08196,y=0.99665,z=0.00186)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.08201,y=0.99666,z=0.00191)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.08201,y=0.99666,z=0.00191)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.08206,y=0.99658,z=0.00195)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.08206,y=0.99658,z=0.00195)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.08211,y=0.99661,z=0.00200)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.08211,y=0.99661,z=0.00200)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.08216,y=0.99660,z=0.00205)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.08216,y=0.99660,z=0.00205)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.08222,y=0.99663,z=0.00211)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.08222,y=0.99663,z=0.00211)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.08228,y=0.99660,z=0.00217)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.08228,y=0.99660,z=0.00217)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.08234,y=0.99658,z=0.00223)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.08234,y=0.99658,z=0.00223)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.08241,y=0.99664,z=0.00229)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.08241,y=0.99664,z=0.00229)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.08248,y=0.99662,z=0.00236)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.08248,y=0.99662,z=0.00236)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.08255,y=0.99656,z=0.00243)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.08255,y=0.99656,z=0.00243)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.08263,y=0.99657,z=0.00250)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.08263,y=0.99657,z=0.00250)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.08272,y=0.99661,z=0.00259)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.08272,y=0.99661,z=0.00259)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.08281,y=0.99657,z=0.00267)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.08281,y=0.99657,z=0.00267)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.08290,y=0.99655,z=0.00276)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.08290,y=0.99655,z=0.00276)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.08300,y=0.99653,z=0.00286)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.08300,y=0.99653,z=0.00286)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.08311,y=0.99654,z=0.00297)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.08311,y=0.99654,z=0.00297)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.08324,y=0.99655,z=0.00308)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.08324,y=0.99655,z=0.00308)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.08336,y=0.99650,z=0.00321)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.08336,y=0.99650,z=0.00321)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.08350,y=0.99649,z=0.00334)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.08350,y=0.99649,z=0.00334)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.08365,y=0.99652,z=0.00349)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.08365,y=0.99652,z=0.00349)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.08382,y=0.99647,z=0.00364)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.08382,y=0.99647,z=0.00364)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.08400,y=0.99649,z=0.00382)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.08400,y=0.99649,z=0.00382)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.08420,y=0.99646,z=0.00401)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.08420,y=0.99646,z=0.00401)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.08442,y=0.99643,z=0.00422)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.08442,y=0.99643,z=0.00422)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.08466,y=0.99645,z=0.00446)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.08466,y=0.99645,z=0.00446)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.08493,y=0.99640,z=0.00472)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.08493,y=0.99640,z=0.00472)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.08524,y=0.99637,z=0.00501)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.08524,y=0.99637,z=0.00501)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.08559,y=0.99635,z=0.00535)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.08559,y=0.99635,z=0.00535)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.08599,y=0.99629,z=0.00573)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.08599,y=0.99629,z=0.00573)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.08645,y=0.99627,z=0.00617)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.08645,y=0.99627,z=0.00617)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.08698,y=0.99619,z=0.00669)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.08698,y=0.99619,z=0.00669)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.08761,y=0.99612,z=0.00730)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.08761,y=0.99612,z=0.00730)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.08837,y=0.99606,z=0.00803)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.08837,y=0.99606,z=0.00803)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.08929,y=0.99599,z=0.00893)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.08929,y=0.99599,z=0.00893)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.09044,y=0.99584,z=0.01005)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.09044,y=0.99584,z=0.01005)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.09193,y=0.99570,z=0.01149)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.09193,y=0.99570,z=0.01149)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.09392,y=0.99551,z=0.01342)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.09392,y=0.99551,z=0.01342)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.09670,y=0.99516,z=0.01612)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.09670,y=0.99516,z=0.01612)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.54409,y=-0.83901,z=0.00279)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.54409,y=-0.83901,z=0.00279)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.54370,y=-0.83926,z=0.00289)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.54370,y=-0.83926,z=0.00289)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.54329,y=-0.83955,z=0.00300)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.54329,y=-0.83955,z=0.00300)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.54285,y=-0.83985,z=0.00312)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.54285,y=-0.83985,z=0.00312)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.54235,y=-0.84015,z=0.00325)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.54235,y=-0.84015,z=0.00325)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.54182,y=-0.84050,z=0.00339)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.54182,y=-0.84050,z=0.00339)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.54125,y=-0.84087,z=0.00354)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.54125,y=-0.84087,z=0.00354)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.54064,y=-0.84127,z=0.00370)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.54064,y=-0.84127,z=0.00370)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.53999,y=-0.84172,z=0.00388)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.53999,y=-0.84172,z=0.00388)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.53925,y=-0.84216,z=0.00409)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.53925,y=-0.84216,z=0.00409)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.53998,y=-0.84170,z=0.00430)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.53998,y=-0.84170,z=0.00430)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.54078,y=-0.84119,z=0.00454)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.54078,y=-0.84119,z=0.00454)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.53995,y=-0.84170,z=0.00482)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.53995,y=-0.84170,z=0.00482)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.54084,y=-0.84109,z=0.00513)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.54084,y=-0.84109,z=0.00513)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.53992,y=-0.84170,z=0.00548)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.53992,y=-0.84170,z=0.00548)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.54098,y=-0.84107,z=0.00588)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.54098,y=-0.84107,z=0.00588)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.53989,y=-0.84171,z=0.00635)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.53989,y=-0.84171,z=0.00635)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.54110,y=-0.84095,z=0.00689)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.54110,y=-0.84095,z=0.00689)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.53982,y=-0.84175,z=0.00755)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.53982,y=-0.84175,z=0.00755)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.54128,y=-0.84082,z=0.00833)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.54128,y=-0.84082,z=0.00833)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.53974,y=-0.84180,z=0.00931)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.53974,y=-0.84180,z=0.00931)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.54153,y=-0.84059,z=0.01052)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.54153,y=-0.84059,z=0.01052)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.53955,y=-0.84182,z=0.01213)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.53955,y=-0.84182,z=0.01213)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.54205,y=-0.84024,z=0.01426)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.54205,y=-0.84024,z=0.01426)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.53927,y=-0.84196,z=0.01740)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.53927,y=-0.84196,z=0.01740)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99070,y=-0.13620,z=0.00360)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99070,y=-0.13620,z=0.00360)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99067,y=-0.13625,z=0.00377)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99067,y=-0.13625,z=0.00377)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99068,y=-0.13630,z=0.00395)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99068,y=-0.13630,z=0.00395)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99065,y=-0.13636,z=0.00416)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99065,y=-0.13636,z=0.00416)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99062,y=-0.13642,z=0.00439)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99062,y=-0.13642,z=0.00439)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99062,y=-0.13650,z=0.00465)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99062,y=-0.13650,z=0.00465)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99063,y=-0.13659,z=0.00494)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99063,y=-0.13659,z=0.00494)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99061,y=-0.13668,z=0.00527)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99061,y=-0.13668,z=0.00527)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99059,y=-0.13676,z=0.00564)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99059,y=-0.13676,z=0.00564)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99058,y=-0.13686,z=0.00608)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99058,y=-0.13686,z=0.00608)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99056,y=-0.13697,z=0.00658)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99056,y=-0.13697,z=0.00658)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99054,y=-0.13710,z=0.00718)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99054,y=-0.13710,z=0.00718)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99052,y=-0.13721,z=0.00789)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99052,y=-0.13721,z=0.00789)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99049,y=-0.13735,z=0.00877)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99049,y=-0.13735,z=0.00877)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99045,y=-0.13753,z=0.00986)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99045,y=-0.13753,z=0.00986)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99044,y=-0.13770,z=0.01125)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99044,y=-0.13770,z=0.01125)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99036,y=-0.13793,z=0.01312)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99036,y=-0.13793,z=0.01312)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99026,y=-0.13816,z=0.01572)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99026,y=-0.13816,z=0.01572)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99019,y=-0.13853,z=0.01961)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99019,y=-0.13853,z=0.01961)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.99979,y=-0.02036,z=0.00382)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.99979,y=-0.02036,z=0.00382)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.99980,y=-0.02036,z=0.00401)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.99980,y=-0.02036,z=0.00401)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.99981,y=-0.02036,z=0.00422)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.99981,y=-0.02036,z=0.00422)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.99979,y=-0.02035,z=0.00445)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.99979,y=-0.02035,z=0.00445)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.99979,y=-0.02035,z=0.00472)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.99979,y=-0.02035,z=0.00472)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.99977,y=-0.02035,z=0.00501)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.99977,y=-0.02035,z=0.00501)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.99978,y=-0.02034,z=0.00535)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.99978,y=-0.02034,z=0.00535)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.99982,y=-0.02034,z=0.00573)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.99982,y=-0.02034,z=0.00573)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.99980,y=-0.02033,z=0.00617)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.99980,y=-0.02033,z=0.00617)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.99977,y=-0.02033,z=0.00669)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.99977,y=-0.02033,z=0.00669)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.99977,y=-0.02032,z=0.00730)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.99977,y=-0.02032,z=0.00730)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.99976,y=-0.02032,z=0.00803)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.99976,y=-0.02032,z=0.00803)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.99973,y=-0.02031,z=0.00893)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.99973,y=-0.02031,z=0.00893)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.99976,y=-0.02030,z=0.01005)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.99976,y=-0.02030,z=0.01005)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.99972,y=-0.02028,z=0.01149)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.99972,y=-0.02028,z=0.01149)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.99973,y=-0.02026,z=0.01342)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.99973,y=-0.02026,z=0.01342)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.99968,y=-0.02023,z=0.01612)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.99968,y=-0.02023,z=0.01612)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.39600,y=0.91829,z=0.00263)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.39600,y=0.91829,z=0.00263)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.39588,y=0.91832,z=0.00272)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.39588,y=0.91832,z=0.00272)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.39576,y=0.91839,z=0.00282)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.39576,y=0.91839,z=0.00282)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.39563,y=0.91845,z=0.00292)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.39563,y=0.91845,z=0.00292)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.39547,y=0.91845,z=0.00303)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.39547,y=0.91845,z=0.00303)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.39532,y=0.91854,z=0.00315)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.39532,y=0.91854,z=0.00315)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.39517,y=0.91863,z=0.00328)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.39517,y=0.91863,z=0.00328)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.39499,y=0.91868,z=0.00342)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.39499,y=0.91868,z=0.00342)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.39479,y=0.91875,z=0.00357)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.39479,y=0.91875,z=0.00357)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.39459,y=0.91884,z=0.00374)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.39459,y=0.91884,z=0.00374)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.39438,y=0.91897,z=0.00392)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.39438,y=0.91897,z=0.00392)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.39413,y=0.91906,z=0.00413)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.39413,y=0.91906,z=0.00413)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.39386,y=0.91916,z=0.00435)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.39386,y=0.91916,z=0.00435)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.39356,y=0.91929,z=0.00460)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.39356,y=0.91929,z=0.00460)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.39323,y=0.91944,z=0.00488)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.39323,y=0.91944,z=0.00488)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.39286,y=0.91960,z=0.00520)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.39286,y=0.91960,z=0.00520)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.39245,y=0.91980,z=0.00557)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.39245,y=0.91980,z=0.00557)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.39195,y=0.91998,z=0.00598)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.39195,y=0.91998,z=0.00598)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.39140,y=0.92021,z=0.00647)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.39140,y=0.92021,z=0.00647)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.39075,y=0.92049,z=0.00704)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.39075,y=0.92049,z=0.00704)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.38999,y=0.92080,z=0.00772)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.38999,y=0.92080,z=0.00772)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.38907,y=0.92116,z=0.00855)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.38907,y=0.92116,z=0.00855)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.38799,y=0.92160,z=0.00958)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.38799,y=0.92160,z=0.00958)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.38652,y=0.92221,z=0.01089)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.38652,y=0.92221,z=0.01089)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.38481,y=0.92292,z=0.01262)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.38481,y=0.92292,z=0.01262)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.38245,y=0.92389,z=0.01500)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.38245,y=0.92389,z=0.01500)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.37896,y=0.92522,z=0.01849)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.37896,y=0.92522,z=0.01849)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.02848,y=-0.99964,z=0.00178)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.02848,y=-0.99964,z=0.00178)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.02822,y=-0.99954,z=0.00182)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.02822,y=-0.99954,z=0.00182)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.02795,y=-0.99963,z=0.00186)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.02795,y=-0.99963,z=0.00186)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.02766,y=-0.99961,z=0.00191)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.02766,y=-0.99961,z=0.00191)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.02736,y=-0.99961,z=0.00195)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.02736,y=-0.99961,z=0.00195)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.02704,y=-0.99961,z=0.00200)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.02704,y=-0.99961,z=0.00200)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.02671,y=-0.99968,z=0.00205)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.02671,y=-0.99968,z=0.00205)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.02636,y=-0.99970,z=0.00211)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.02636,y=-0.99970,z=0.00211)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.02599,y=-0.99965,z=0.00217)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.02599,y=-0.99965,z=0.00217)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.02560,y=-0.99971,z=0.00223)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.02560,y=-0.99971,z=0.00223)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.02519,y=-0.99965,z=0.00229)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.02519,y=-0.99965,z=0.00229)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.02475,y=-0.99970,z=0.00236)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.02475,y=-0.99970,z=0.00236)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.02429,y=-0.99971,z=0.00243)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.02429,y=-0.99971,z=0.00243)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.02380,y=-0.99969,z=0.00251)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.02380,y=-0.99969,z=0.00251)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.02328,y=-0.99977,z=0.00259)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.02328,y=-0.99977,z=0.00259)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.02272,y=-0.99977,z=0.00267)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.02272,y=-0.99977,z=0.00267)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.02212,y=-0.99979,z=0.00277)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.02212,y=-0.99979,z=0.00277)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.02148,y=-0.99978,z=0.00286)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.02148,y=-0.99978,z=0.00286)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.02079,y=-0.99980,z=0.00297)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.02079,y=-0.99980,z=0.00297)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.02005,y=-0.99982,z=0.00309)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.02005,y=-0.99982,z=0.00309)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.01925,y=-0.99983,z=0.00321)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.01925,y=-0.99983,z=0.00321)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.02006,y=-0.99979,z=0.00334)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.02006,y=-0.99979,z=0.00334)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.01919,y=-0.99979,z=0.00349)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.01919,y=-0.99979,z=0.00349)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.02006,y=-0.99981,z=0.00365)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.02006,y=-0.99981,z=0.00365)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.01911,y=-0.99983,z=0.00382)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.01911,y=-0.99983,z=0.00382)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.02007,y=-0.99982,z=0.00401)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.02007,y=-0.99982,z=0.00401)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.01902,y=-0.99984,z=0.00423)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.01902,y=-0.99984,z=0.00423)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.02008,y=-0.99980,z=0.00446)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.02008,y=-0.99980,z=0.00446)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.01890,y=-0.99984,z=0.00473)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.01890,y=-0.99984,z=0.00473)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.02009,y=-0.99981,z=0.00502)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.02009,y=-0.99981,z=0.00502)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.01876,y=-0.99983,z=0.00536)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.01876,y=-0.99983,z=0.00536)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.02010,y=-0.99979,z=0.00574)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.02010,y=-0.99979,z=0.00574)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.01857,y=-0.99983,z=0.00619)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.01857,y=-0.99983,z=0.00619)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.02012,y=-0.99975,z=0.00671)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.02012,y=-0.99975,z=0.00671)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.01830,y=-0.99981,z=0.00732)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.01830,y=-0.99981,z=0.00732)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.02014,y=-0.99976,z=0.00806)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.02014,y=-0.99976,z=0.00806)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.01792,y=-0.99978,z=0.00896)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.01792,y=-0.99978,z=0.00896)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.02018,y=-0.99974,z=0.01009)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.02018,y=-0.99974,z=0.01009)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.01732,y=-0.99977,z=0.01154)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.01732,y=-0.99977,z=0.01154)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.02024,y=-0.99973,z=0.01349)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.02024,y=-0.99973,z=0.01349)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.01623,y=-0.99975,z=0.01623)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.01623,y=-0.99975,z=0.01623)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.97143,y=-0.23734,z=0.00483)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.97143,y=-0.23734,z=0.00483)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.97146,y=-0.23716,z=0.00514)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.97146,y=-0.23716,z=0.00514)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.97148,y=-0.23698,z=0.00549)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.97148,y=-0.23698,z=0.00549)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.97155,y=-0.23679,z=0.00589)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.97155,y=-0.23679,z=0.00589)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.97158,y=-0.23657,z=0.00635)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.97158,y=-0.23657,z=0.00635)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.97163,y=-0.23634,z=0.00689)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.97163,y=-0.23634,z=0.00689)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.97171,y=-0.23609,z=0.00753)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.97171,y=-0.23609,z=0.00753)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.97176,y=-0.23581,z=0.00831)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.97176,y=-0.23581,z=0.00831)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.97182,y=-0.23550,z=0.00926)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.97182,y=-0.23550,z=0.00926)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.97189,y=-0.23514,z=0.01045)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.97189,y=-0.23514,z=0.01045)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.97198,y=-0.23474,z=0.01200)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.97198,y=-0.23474,z=0.01200)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.97210,y=-0.23426,z=0.01409)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.97210,y=-0.23426,z=0.01409)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.97220,y=-0.23367,z=0.01706)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.97220,y=-0.23367,z=0.01706)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> accel: 4
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99519,y=0.09760,z=0.00686)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99519,y=0.09760,z=0.00686)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99518,y=0.09765,z=0.00751)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99518,y=0.09765,z=0.00751)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99518,y=0.09770,z=0.00829)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99518,y=0.09770,z=0.00829)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99519,y=0.09776,z=0.00926)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99519,y=0.09776,z=0.00926)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99512,y=0.09781,z=0.01047)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99512,y=0.09781,z=0.01047)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99512,y=0.09788,z=0.01206)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99512,y=0.09788,z=0.01206)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99509,y=0.09797,z=0.01422)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99509,y=0.09797,z=0.01422)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99507,y=0.09807,z=0.01731)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99507,y=0.09807,z=0.01731)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.98000,y=0.19898,z=0.00676)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.98000,y=0.19898,z=0.00676)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.98008,y=0.19862,z=0.00737)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.98008,y=0.19862,z=0.00737)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.97995,y=0.19901,z=0.00813)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.97995,y=0.19901,z=0.00813)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.98004,y=0.19857,z=0.00903)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.98004,y=0.19857,z=0.00903)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.97995,y=0.19907,z=0.01021)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.97995,y=0.19907,z=0.01021)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.98004,y=0.19849,z=0.01167)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.98004,y=0.19849,z=0.01167)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.97985,y=0.19915,z=0.01370)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.97985,y=0.19915,z=0.01370)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.97999,y=0.19834,z=0.01647)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.97999,y=0.19834,z=0.01647)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.85211,y=0.52325,z=0.00878)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.85211,y=0.52325,z=0.00878)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.85256,y=0.52258,z=0.00986)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.85256,y=0.52258,z=0.00986)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.85302,y=0.52180,z=0.01122)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.85302,y=0.52180,z=0.01122)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.85353,y=0.52085,z=0.01303)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.85353,y=0.52085,z=0.01303)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.85424,y=0.51969,z=0.01553)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.85424,y=0.51969,z=0.01553)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.85511,y=0.51816,z=0.01922)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.85511,y=0.51816,z=0.01922)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.66048,y=0.75082,z=0.00786)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.66048,y=0.75082,z=0.00786)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.65927,y=0.75187,z=0.00873)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.65927,y=0.75187,z=0.00873)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.66060,y=0.75068,z=0.00979)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.66060,y=0.75068,z=0.00979)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.65907,y=0.75200,z=0.01117)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.65907,y=0.75200,z=0.01117)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.66080,y=0.75046,z=0.01296)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.66080,y=0.75046,z=0.01296)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.65866,y=0.75226,z=0.01550)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.65866,y=0.75226,z=0.01550)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.66117,y=0.75000,z=0.01916)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.66117,y=0.75000,z=0.01916)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.22330,y=0.97469,z=0.00930)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.22330,y=0.97469,z=0.00930)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.22121,y=0.97515,z=0.01053)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.22121,y=0.97515,z=0.01053)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.21850,y=0.97578,z=0.01214)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.21850,y=0.97578,z=0.01214)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.22163,y=0.97505,z=0.01430)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.22163,y=0.97505,z=0.01430)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.21783,y=0.97587,z=0.01743)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.21783,y=0.97587,z=0.01743)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.53881,y=0.84234,z=0.00898)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.53881,y=0.84234,z=0.00898)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.54051,y=0.84128,z=0.01010)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.54051,y=0.84128,z=0.01010)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.53851,y=0.84256,z=0.01158)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.53851,y=0.84256,z=0.01158)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.54069,y=0.84111,z=0.01352)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.54069,y=0.84111,z=0.01352)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.53790,y=0.84287,z=0.01630)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.53790,y=0.84287,z=0.01630)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.88608,y=0.46353,z=0.00700)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.88608,y=0.46353,z=0.00700)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.88619,y=0.46327,z=0.00767)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.88619,y=0.46327,z=0.00767)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.88631,y=0.46300,z=0.00848)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.88631,y=0.46300,z=0.00848)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.88647,y=0.46267,z=0.00948)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.88647,y=0.46267,z=0.00948)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.88666,y=0.46230,z=0.01075)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.88666,y=0.46230,z=0.01075)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.88687,y=0.46186,z=0.01240)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.88687,y=0.46186,z=0.01240)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.88710,y=0.46129,z=0.01466)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.88710,y=0.46129,z=0.01466)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.88742,y=0.46065,z=0.01793)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.88742,y=0.46065,z=0.01793)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.95116,y=0.30860,z=0.00687)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.95116,y=0.30860,z=0.00687)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.95110,y=0.30886,z=0.00752)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.95110,y=0.30886,z=0.00752)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.95099,y=0.30913,z=0.00831)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.95099,y=0.30913,z=0.00831)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.95087,y=0.30943,z=0.00928)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.95087,y=0.30943,z=0.00928)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.95077,y=0.30976,z=0.01051)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.95077,y=0.30976,z=0.01051)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.95059,y=0.31018,z=0.01211)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.95059,y=0.31018,z=0.01211)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.95040,y=0.31070,z=0.01429)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.95040,y=0.31070,z=0.01429)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.95014,y=0.31128,z=0.01743)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.95014,y=0.31128,z=0.01743)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.15896,y=0.98728,z=0.00374)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.15896,y=0.98728,z=0.00374)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.15891,y=0.98728,z=0.00392)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.15891,y=0.98728,z=0.00392)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.15885,y=0.98729,z=0.00413)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.15885,y=0.98729,z=0.00413)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.15879,y=0.98730,z=0.00435)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.15879,y=0.98730,z=0.00435)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.15872,y=0.98731,z=0.00460)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.15872,y=0.98731,z=0.00460)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.15865,y=0.98738,z=0.00488)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.15865,y=0.98738,z=0.00488)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.15856,y=0.98734,z=0.00520)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.15856,y=0.98734,z=0.00520)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.15845,y=0.98734,z=0.00556)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.15845,y=0.98734,z=0.00556)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.15835,y=0.98740,z=0.00598)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.15835,y=0.98740,z=0.00598)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.15821,y=0.98737,z=0.00646)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.15821,y=0.98737,z=0.00646)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.15805,y=0.98738,z=0.00702)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.15805,y=0.98738,z=0.00702)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.15787,y=0.98745,z=0.00770)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.15787,y=0.98745,z=0.00770)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.15765,y=0.98746,z=0.00852)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.15765,y=0.98746,z=0.00852)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.15738,y=0.98751,z=0.00954)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.15738,y=0.98751,z=0.00954)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.15701,y=0.98755,z=0.01083)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.15701,y=0.98755,z=0.01083)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.15656,y=0.98760,z=0.01252)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.15656,y=0.98760,z=0.01252)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.15595,y=0.98767,z=0.01485)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.15595,y=0.98767,z=0.01485)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.15505,y=0.98778,z=0.01824)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.15505,y=0.98778,z=0.01824)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99003,y=0.14100,z=0.00337)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99003,y=0.14100,z=0.00337)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99002,y=0.14110,z=0.00352)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99002,y=0.14110,z=0.00352)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.98996,y=0.14121,z=0.00369)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.98996,y=0.14121,z=0.00369)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99000,y=0.14135,z=0.00387)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99000,y=0.14135,z=0.00387)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.98992,y=0.14148,z=0.00407)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.98992,y=0.14148,z=0.00407)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.98993,y=0.14163,z=0.00429)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.98993,y=0.14163,z=0.00429)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.98989,y=0.14180,z=0.00453)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.98989,y=0.14180,z=0.00453)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.98987,y=0.14199,z=0.00481)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.98987,y=0.14199,z=0.00481)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.98983,y=0.14221,z=0.00512)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.98983,y=0.14221,z=0.00512)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.98989,y=0.14219,z=0.00547)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.98989,y=0.14219,z=0.00547)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.98984,y=0.14216,z=0.00587)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.98984,y=0.14216,z=0.00587)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.98982,y=0.14213,z=0.00634)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.98982,y=0.14213,z=0.00634)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.98983,y=0.14209,z=0.00690)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.98983,y=0.14209,z=0.00690)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.98984,y=0.14205,z=0.00756)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.98984,y=0.14205,z=0.00756)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.98985,y=0.14200,z=0.00835)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.98985,y=0.14200,z=0.00835)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.98983,y=0.14194,z=0.00934)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.98983,y=0.14194,z=0.00934)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.98973,y=0.14237,z=0.01059)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.98973,y=0.14237,z=0.01059)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.98974,y=0.14235,z=0.01222)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.98974,y=0.14235,z=0.01222)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.98974,y=0.14232,z=0.01445)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.98974,y=0.14232,z=0.01445)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.98967,y=0.14226,z=0.01767)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.98967,y=0.14226,z=0.01767)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.99968,y=0.02436,z=0.00390)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.99968,y=0.02436,z=0.00390)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.99972,y=0.02438,z=0.00410)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.99972,y=0.02438,z=0.00410)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.99971,y=0.02440,z=0.00432)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.99971,y=0.02440,z=0.00432)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.99974,y=0.02442,z=0.00456)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.99974,y=0.02442,z=0.00456)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.99971,y=0.02445,z=0.00484)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.99971,y=0.02445,z=0.00484)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.99972,y=0.02448,z=0.00515)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.99972,y=0.02448,z=0.00515)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.99970,y=0.02451,z=0.00551)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.99970,y=0.02451,z=0.00551)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.99970,y=0.02455,z=0.00592)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.99970,y=0.02455,z=0.00592)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.99969,y=0.02459,z=0.00639)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.99969,y=0.02459,z=0.00639)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.99968,y=0.02465,z=0.00694)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.99968,y=0.02465,z=0.00694)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.99966,y=0.02471,z=0.00760)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.99966,y=0.02471,z=0.00760)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.99967,y=0.02478,z=0.00840)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.99967,y=0.02478,z=0.00840)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.99963,y=0.02487,z=0.00939)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.99963,y=0.02487,z=0.00939)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.99963,y=0.02499,z=0.01063)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.99963,y=0.02499,z=0.01063)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.99963,y=0.02514,z=0.01226)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.99963,y=0.02514,z=0.01226)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.99956,y=0.02535,z=0.01449)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.99956,y=0.02535,z=0.01449)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.99955,y=0.02565,z=0.01769)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.99955,y=0.02565,z=0.01769)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.17412,y=-0.98475,z=0.00396)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.17412,y=-0.98475,z=0.00396)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.17482,y=-0.98462,z=0.00416)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.17482,y=-0.98462,z=0.00416)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.17560,y=-0.98446,z=0.00439)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.17560,y=-0.98446,z=0.00439)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.17647,y=-0.98430,z=0.00464)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.17647,y=-0.98430,z=0.00464)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.17746,y=-0.98415,z=0.00493)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.17746,y=-0.98415,z=0.00493)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.17857,y=-0.98396,z=0.00525)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.17857,y=-0.98396,z=0.00525)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.17982,y=-0.98368,z=0.00562)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.17982,y=-0.98368,z=0.00562)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.18128,y=-0.98343,z=0.00604)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.18128,y=-0.98343,z=0.00604)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.17980,y=-0.98367,z=0.00654)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.17980,y=-0.98367,z=0.00654)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.18151,y=-0.98339,z=0.00712)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.18151,y=-0.98339,z=0.00712)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.17976,y=-0.98367,z=0.00782)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.17976,y=-0.98367,z=0.00782)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.18183,y=-0.98329,z=0.00866)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.18183,y=-0.98329,z=0.00866)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.17969,y=-0.98368,z=0.00971)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.17969,y=-0.98368,z=0.00971)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.18231,y=-0.98316,z=0.01105)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.18231,y=-0.98316,z=0.01105)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.17957,y=-0.98364,z=0.01283)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.17957,y=-0.98364,z=0.01283)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.18318,y=-0.98298,z=0.01527)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.18318,y=-0.98298,z=0.01527)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.17931,y=-0.98358,z=0.01887)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.17931,y=-0.98358,z=0.01887)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.81894,y=-0.57383,z=0.00885)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.81894,y=-0.57383,z=0.00885)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.81972,y=-0.57271,z=0.00994)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.81972,y=-0.57271,z=0.00994)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.82060,y=-0.57136,z=0.01132)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.82060,y=-0.57136,z=0.01132)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.81957,y=-0.57290,z=0.01322)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.81957,y=-0.57290,z=0.01322)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.82077,y=-0.57107,z=0.01578)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.82077,y=-0.57107,z=0.01578)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.81919,y=-0.57323,z=0.01974)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.81919,y=-0.57323,z=0.01974)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.94191,y=-0.33576,z=0.00716)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.94191,y=-0.33576,z=0.00716)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.94173,y=-0.33634,z=0.00788)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.94173,y=-0.33634,z=0.00788)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.94151,y=-0.33697,z=0.00876)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.94151,y=-0.33697,z=0.00876)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.94121,y=-0.33770,z=0.00986)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.94121,y=-0.33770,z=0.00986)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.94089,y=-0.33855,z=0.01127)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.94089,y=-0.33855,z=0.01127)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.94048,y=-0.33956,z=0.01315)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.94048,y=-0.33956,z=0.01315)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.94004,y=-0.34078,z=0.01580)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.94004,y=-0.34078,z=0.01580)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.93939,y=-0.34233,z=0.01978)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.93939,y=-0.34233,z=0.01978)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.80653,y=-0.59111,z=0.00938)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.80653,y=-0.59111,z=0.00938)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.80683,y=-0.59069,z=0.01062)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.80683,y=-0.59069,z=0.01062)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.80719,y=-0.59017,z=0.01223)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.80719,y=-0.59017,z=0.01223)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.80761,y=-0.58956,z=0.01442)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.80761,y=-0.58956,z=0.01442)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.80816,y=-0.58872,z=0.01757)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.80816,y=-0.58872,z=0.01757)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.64773,y=-0.76184,z=0.00753)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.64773,y=-0.76184,z=0.00753)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.64820,y=-0.76142,z=0.00831)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.64820,y=-0.76142,z=0.00831)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.64875,y=-0.76093,z=0.00927)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.64875,y=-0.76093,z=0.00927)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.64939,y=-0.76036,z=0.01047)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.64939,y=-0.76036,z=0.01047)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.65021,y=-0.75967,z=0.01204)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.65021,y=-0.75967,z=0.01204)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.65123,y=-0.75876,z=0.01416)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.65123,y=-0.75876,z=0.01416)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.65258,y=-0.75751,z=0.01717)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.65258,y=-0.75751,z=0.01717)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.17944,y=-0.98371,z=0.00897)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.17944,y=-0.98371,z=0.00897)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.18182,y=-0.98328,z=0.01010)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.18182,y=-0.98328,z=0.01010)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.17927,y=-0.98375,z=0.01157)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.17927,y=-0.98375,z=0.01157)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.18241,y=-0.98310,z=0.01351)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.18241,y=-0.98310,z=0.01351)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.17895,y=-0.98373,z=0.01627)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.17895,y=-0.98373,z=0.01627)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.68935,y=-0.72443,z=0.00489)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.68935,y=-0.72443,z=0.00489)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.68966,y=-0.72412,z=0.00521)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.68966,y=-0.72412,z=0.00521)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.69001,y=-0.72379,z=0.00556)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.69001,y=-0.72379,z=0.00556)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.69044,y=-0.72343,z=0.00598)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.69044,y=-0.72343,z=0.00598)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.69086,y=-0.72298,z=0.00646)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.69086,y=-0.72298,z=0.00646)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.69133,y=-0.72249,z=0.00702)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.69133,y=-0.72249,z=0.00702)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.69190,y=-0.72196,z=0.00769)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.69190,y=-0.72196,z=0.00769)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.69255,y=-0.72132,z=0.00850)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.69255,y=-0.72132,z=0.00850)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.69332,y=-0.72058,z=0.00950)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.69332,y=-0.72058,z=0.00950)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.69423,y=-0.71968,z=0.01076)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.69423,y=-0.71968,z=0.01076)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.69535,y=-0.71857,z=0.01242)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.69535,y=-0.71857,z=0.01242)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.69679,y=-0.71715,z=0.01467)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.69679,y=-0.71715,z=0.01467)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.69868,y=-0.71522,z=0.01792)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.69868,y=-0.71522,z=0.01792)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.66715,y=0.74489,z=0.00202)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.66715,y=0.74489,z=0.00202)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.66699,y=0.74509,z=0.00207)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.66699,y=0.74509,z=0.00207)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.66681,y=0.74528,z=0.00213)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.66681,y=0.74528,z=0.00213)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.66661,y=0.74545,z=0.00219)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.66661,y=0.74545,z=0.00219)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.66635,y=0.74559,z=0.00225)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.66635,y=0.74559,z=0.00225)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.66614,y=0.74579,z=0.00231)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.66614,y=0.74579,z=0.00231)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.66594,y=0.74602,z=0.00238)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.66594,y=0.74602,z=0.00238)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.66568,y=0.74622,z=0.00246)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.66568,y=0.74622,z=0.00246)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.66544,y=0.74644,z=0.00253)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.66544,y=0.74644,z=0.00253)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.66518,y=0.74669,z=0.00262)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.66518,y=0.74669,z=0.00262)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.66491,y=0.74695,z=0.00271)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.66491,y=0.74695,z=0.00271)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.66460,y=0.74719,z=0.00280)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.66460,y=0.74719,z=0.00280)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.66430,y=0.74748,z=0.00291)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.66430,y=0.74748,z=0.00291)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.66396,y=0.74777,z=0.00302)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.66396,y=0.74777,z=0.00302)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.66360,y=0.74808,z=0.00314)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.66360,y=0.74808,z=0.00314)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.66324,y=0.74843,z=0.00327)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.66324,y=0.74843,z=0.00327)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.66282,y=0.74876,z=0.00341)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.66282,y=0.74876,z=0.00341)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.66238,y=0.74913,z=0.00356)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.66238,y=0.74913,z=0.00356)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.66193,y=0.74955,z=0.00373)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.66193,y=0.74955,z=0.00373)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.66143,y=0.74998,z=0.00391)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.66143,y=0.74998,z=0.00391)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.66091,y=0.75047,z=0.00412)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.66091,y=0.75047,z=0.00412)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.66032,y=0.75098,z=0.00434)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.66032,y=0.75098,z=0.00434)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.65967,y=0.75154,z=0.00460)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.65967,y=0.75154,z=0.00460)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.66035,y=0.75094,z=0.00487)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.66035,y=0.75094,z=0.00487)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.65964,y=0.75160,z=0.00519)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.65964,y=0.75160,z=0.00519)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.66040,y=0.75092,z=0.00555)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.66040,y=0.75092,z=0.00555)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.65957,y=0.75165,z=0.00597)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.65957,y=0.75165,z=0.00597)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.66043,y=0.75083,z=0.00644)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.66043,y=0.75083,z=0.00644)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.65947,y=0.75169,z=0.00702)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.65947,y=0.75169,z=0.00702)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.66051,y=0.75076,z=0.00768)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.66051,y=0.75076,z=0.00768)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.65935,y=0.75179,z=0.00851)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.65935,y=0.75179,z=0.00851)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.66065,y=0.75067,z=0.00951)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.66065,y=0.75067,z=0.00951)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.65918,y=0.75195,z=0.01081)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.65918,y=0.75195,z=0.01081)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.66085,y=0.75043,z=0.01247)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.66085,y=0.75043,z=0.01247)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.65882,y=0.75217,z=0.01481)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.65882,y=0.75217,z=0.01481)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.66118,y=0.75003,z=0.01811)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.66118,y=0.75003,z=0.01811)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.13875,y=0.99033,z=0.00631)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.13875,y=0.99033,z=0.00631)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.14031,y=0.99007,z=0.00684)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.14031,y=0.99007,z=0.00684)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.13851,y=0.99034,z=0.00749)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.13851,y=0.99034,z=0.00749)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.14038,y=0.99004,z=0.00826)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.14038,y=0.99004,z=0.00826)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.13816,y=0.99037,z=0.00921)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.13816,y=0.99037,z=0.00921)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.14048,y=0.99001,z=0.01041)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.14048,y=0.99001,z=0.01041)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.13762,y=0.99043,z=0.01197)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.13762,y=0.99043,z=0.01197)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.14065,y=0.98994,z=0.01406)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.14065,y=0.98994,z=0.01406)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.13659,y=0.99044,z=0.01707)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.13659,y=0.99044,z=0.01707)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.50865,y=0.86092,z=0.00900)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.50865,y=0.86092,z=0.00900)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.50756,y=0.86153,z=0.01015)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.50756,y=0.86153,z=0.01015)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.50623,y=0.86233,z=0.01164)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.50623,y=0.86233,z=0.01164)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.50457,y=0.86322,z=0.01364)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.50457,y=0.86322,z=0.01364)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.50226,y=0.86455,z=0.01647)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.50226,y=0.86455,z=0.01647)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.74275,y=0.66948,z=0.01004)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.74275,y=0.66948,z=0.01004)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.74150,y=0.67080,z=0.01150)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.74150,y=0.67080,z=0.01150)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.74019,y=0.67223,z=0.01346)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.74019,y=0.67223,z=0.01346)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.73834,y=0.67424,z=0.01623)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.73834,y=0.67424,z=0.01623)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.99556,y=0.09323,z=0.01151)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.99556,y=0.09323,z=0.01151)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.99557,y=0.09350,z=0.01345)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.99557,y=0.09350,z=0.01345)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.99546,y=0.09388,z=0.01619)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.99546,y=0.09388,z=0.01619)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.90914,y=-0.41646,z=0.00918)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.90914,y=-0.41646,z=0.00918)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.90886,y=-0.41704,z=0.01039)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.90886,y=-0.41704,z=0.01039)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.90849,y=-0.41779,z=0.01195)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.90849,y=-0.41779,z=0.01195)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.90801,y=-0.41881,z=0.01408)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.90801,y=-0.41881,z=0.01408)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.90761,y=-0.41956,z=0.01713)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.90761,y=-0.41956,z=0.01713)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.53566,y=-0.84447,z=0.00585)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.53566,y=-0.84447,z=0.00585)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.53652,y=-0.84391,z=0.00631)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.53652,y=-0.84391,z=0.00631)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.53751,y=-0.84323,z=0.00685)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.53751,y=-0.84323,z=0.00685)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.53870,y=-0.84247,z=0.00748)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.53870,y=-0.84247,z=0.00748)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.54014,y=-0.84155,z=0.00825)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.54014,y=-0.84155,z=0.00825)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.53853,y=-0.84259,z=0.00921)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.53853,y=-0.84259,z=0.00921)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.54021,y=-0.84148,z=0.01039)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.54021,y=-0.84148,z=0.01039)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.53812,y=-0.84281,z=0.01196)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.53812,y=-0.84281,z=0.01196)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.54035,y=-0.84133,z=0.01404)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.54035,y=-0.84133,z=0.01404)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.53736,y=-0.84323,z=0.01706)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.53736,y=-0.84323,z=0.01706)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.27880,y=0.96030,z=0.01115)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.27880,y=0.96030,z=0.01115)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.27862,y=0.96034,z=0.01296)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.27862,y=0.96034,z=0.01296)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.27836,y=0.96034,z=0.01546)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.27836,y=0.96034,z=0.01546)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.27799,y=0.96041,z=0.01917)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.27799,y=0.96041,z=0.01917)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.56926,y=0.82207,z=0.00933)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.56926,y=0.82207,z=0.00933)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.57010,y=0.82152,z=0.01056)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.57010,y=0.82152,z=0.01056)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.57108,y=0.82077,z=0.01215)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.57108,y=0.82077,z=0.01215)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.57237,y=0.81992,z=0.01431)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.57237,y=0.81992,z=0.01431)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.57411,y=0.81855,z=0.01740)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.57411,y=0.81855,z=0.01740)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.77582,y=0.63087,z=0.01021)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.77582,y=0.63087,z=0.01021)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.77683,y=0.62964,z=0.01168)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.77683,y=0.62964,z=0.01168)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.77779,y=0.62837,z=0.01364)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.77779,y=0.62837,z=0.01364)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.77913,y=0.62659,z=0.01640)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.77913,y=0.62659,z=0.01640)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99813,y=0.06068,z=0.01134)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99813,y=0.06068,z=0.01134)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99808,y=0.06081,z=0.01322)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99808,y=0.06081,z=0.01322)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99802,y=0.06099,z=0.01584)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99802,y=0.06099,z=0.01584)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99792,y=0.06126,z=0.01976)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99792,y=0.06126,z=0.01976)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.87935,y=-0.47615,z=0.00999)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.87935,y=-0.47615,z=0.00999)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.87925,y=-0.47616,z=0.01142)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.87925,y=-0.47616,z=0.01142)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.87924,y=-0.47625,z=0.01332)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.87924,y=-0.47625,z=0.01332)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.87915,y=-0.47634,z=0.01598)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.87915,y=-0.47634,z=0.01598)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.87903,y=-0.47648,z=0.01998)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.87903,y=-0.47648,z=0.01998)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.50225,y=-0.86472,z=0.00605)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.50225,y=-0.86472,z=0.00605)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.50114,y=-0.86536,z=0.00655)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.50114,y=-0.86536,z=0.00655)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.49980,y=-0.86608,z=0.00714)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.49980,y=-0.86608,z=0.00714)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.50135,y=-0.86522,z=0.00783)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.50135,y=-0.86522,z=0.00783)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.49982,y=-0.86609,z=0.00869)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.49982,y=-0.86609,z=0.00869)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.50163,y=-0.86504,z=0.00974)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.50163,y=-0.86504,z=0.00974)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.49972,y=-0.86613,z=0.01111)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.49972,y=-0.86613,z=0.01111)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.50209,y=-0.86476,z=0.01287)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.50209,y=-0.86476,z=0.01287)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.49950,y=-0.86621,z=0.01537)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.49950,y=-0.86621,z=0.01537)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.50294,y=-0.86411,z=0.01898)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.50294,y=-0.86411,z=0.01898)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.54148,y=-0.84071,z=0.00193)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.54148,y=-0.84071,z=0.00193)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.54113,y=-0.84087,z=0.00198)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.54113,y=-0.84087,z=0.00198)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.54083,y=-0.84116,z=0.00203)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.54083,y=-0.84116,z=0.00203)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.54048,y=-0.84139,z=0.00209)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.54048,y=-0.84139,z=0.00209)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.54009,y=-0.84159,z=0.00214)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.54009,y=-0.84159,z=0.00214)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.53969,y=-0.84182,z=0.00220)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.53969,y=-0.84182,z=0.00220)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.54011,y=-0.84160,z=0.00226)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.54011,y=-0.84160,z=0.00226)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.53967,y=-0.84183,z=0.00233)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.53967,y=-0.84183,z=0.00233)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.54009,y=-0.84156,z=0.00240)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.54009,y=-0.84156,z=0.00240)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.53968,y=-0.84188,z=0.00248)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.53968,y=-0.84188,z=0.00248)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.54013,y=-0.84159,z=0.00255)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.54013,y=-0.84159,z=0.00255)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.53968,y=-0.84191,z=0.00264)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.53968,y=-0.84191,z=0.00264)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.54014,y=-0.84159,z=0.00273)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.54014,y=-0.84159,z=0.00273)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.53965,y=-0.84191,z=0.00283)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.53965,y=-0.84191,z=0.00283)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.54014,y=-0.84155,z=0.00293)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.54014,y=-0.84155,z=0.00293)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.53964,y=-0.84194,z=0.00304)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.53964,y=-0.84194,z=0.00304)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.54015,y=-0.84154,z=0.00316)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.54015,y=-0.84154,z=0.00316)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.53959,y=-0.84193,z=0.00329)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.53959,y=-0.84193,z=0.00329)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.54019,y=-0.84155,z=0.00343)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.54019,y=-0.84155,z=0.00343)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.53957,y=-0.84197,z=0.00359)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.53957,y=-0.84197,z=0.00359)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.54023,y=-0.84156,z=0.00375)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.54023,y=-0.84156,z=0.00375)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.53951,y=-0.84194,z=0.00394)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.53951,y=-0.84194,z=0.00394)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.54024,y=-0.84152,z=0.00414)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.54024,y=-0.84152,z=0.00414)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.53947,y=-0.84199,z=0.00437)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.53947,y=-0.84199,z=0.00437)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.54026,y=-0.84147,z=0.00462)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.54026,y=-0.84147,z=0.00462)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.53942,y=-0.84203,z=0.00490)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.53942,y=-0.84203,z=0.00490)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.54031,y=-0.84145,z=0.00522)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.54031,y=-0.84145,z=0.00522)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.53934,y=-0.84207,z=0.00559)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.53934,y=-0.84207,z=0.00559)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.54036,y=-0.84140,z=0.00600)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.54036,y=-0.84140,z=0.00600)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.53923,y=-0.84212,z=0.00650)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.53923,y=-0.84212,z=0.00650)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.54044,y=-0.84136,z=0.00706)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.54044,y=-0.84136,z=0.00706)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.53910,y=-0.84223,z=0.00776)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.53910,y=-0.84223,z=0.00776)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.54054,y=-0.84127,z=0.00858)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.54054,y=-0.84127,z=0.00858)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.53888,y=-0.84233,z=0.00962)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.53888,y=-0.84233,z=0.00962)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.54069,y=-0.84113,z=0.01092)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.54069,y=-0.84113,z=0.01092)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.53852,y=-0.84249,z=0.01267)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.53852,y=-0.84249,z=0.01267)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.54099,y=-0.84093,z=0.01503)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.54099,y=-0.84093,z=0.01503)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.53783,y=-0.84289,z=0.01855)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.53783,y=-0.84289,z=0.01855)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99217,y=-0.12483,z=0.00358)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99217,y=-0.12483,z=0.00358)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99216,y=-0.12487,z=0.00374)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99216,y=-0.12487,z=0.00374)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99217,y=-0.12492,z=0.00393)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99217,y=-0.12492,z=0.00393)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99216,y=-0.12497,z=0.00413)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99216,y=-0.12497,z=0.00413)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99213,y=-0.12502,z=0.00436)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99213,y=-0.12502,z=0.00436)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99214,y=-0.12508,z=0.00461)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99214,y=-0.12508,z=0.00461)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99217,y=-0.12514,z=0.00490)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99217,y=-0.12514,z=0.00490)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99214,y=-0.12520,z=0.00522)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99214,y=-0.12520,z=0.00522)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99215,y=-0.12527,z=0.00559)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99215,y=-0.12527,z=0.00559)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99208,y=-0.12534,z=0.00601)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99208,y=-0.12534,z=0.00601)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99210,y=-0.12542,z=0.00651)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99210,y=-0.12542,z=0.00651)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99207,y=-0.12550,z=0.00709)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99207,y=-0.12550,z=0.00709)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99205,y=-0.12560,z=0.00778)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99205,y=-0.12560,z=0.00778)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99201,y=-0.12570,z=0.00863)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99201,y=-0.12570,z=0.00863)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99202,y=-0.12583,z=0.00968)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99202,y=-0.12583,z=0.00968)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99196,y=-0.12596,z=0.01102)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99196,y=-0.12596,z=0.01102)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99194,y=-0.12612,z=0.01280)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99194,y=-0.12612,z=0.01280)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99191,y=-0.12631,z=0.01526)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99191,y=-0.12631,z=0.01526)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99178,y=-0.12653,z=0.01889)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99178,y=-0.12653,z=0.01889)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99932,y=-0.03652,z=0.00714)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99932,y=-0.03652,z=0.00714)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99929,y=-0.03652,z=0.00784)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99929,y=-0.03652,z=0.00784)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99930,y=-0.03653,z=0.00869)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99930,y=-0.03653,z=0.00869)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99927,y=-0.03653,z=0.00975)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99927,y=-0.03653,z=0.00975)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99927,y=-0.03653,z=0.01110)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99927,y=-0.03653,z=0.01110)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99922,y=-0.03653,z=0.01289)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99922,y=-0.03653,z=0.01289)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99923,y=-0.03654,z=0.01537)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99923,y=-0.03654,z=0.01537)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99915,y=-0.03654,z=0.01903)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99915,y=-0.03654,z=0.01903)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> accel: 4
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.98613,y=0.16579,z=0.00704)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.98613,y=0.16579,z=0.00704)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.98608,y=0.16600,z=0.00773)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.98608,y=0.16600,z=0.00773)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.98603,y=0.16625,z=0.00857)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.98603,y=0.16625,z=0.00857)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.98601,y=0.16652,z=0.00962)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.98601,y=0.16652,z=0.00962)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.98593,y=0.16684,z=0.01095)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.98593,y=0.16684,z=0.01095)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.98582,y=0.16719,z=0.01272)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.98582,y=0.16719,z=0.01272)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.98575,y=0.16764,z=0.01516)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.98575,y=0.16764,z=0.01516)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.98554,y=0.16817,z=0.01877)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.98554,y=0.16817,z=0.01877)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.97507,y=0.22187,z=0.00696)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.97507,y=0.22187,z=0.00696)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.97513,y=0.22156,z=0.00762)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.97513,y=0.22156,z=0.00762)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.97519,y=0.22121,z=0.00841)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.97519,y=0.22121,z=0.00841)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.97529,y=0.22083,z=0.00938)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.97529,y=0.22083,z=0.00938)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.97535,y=0.22039,z=0.01060)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.97535,y=0.22039,z=0.01060)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.97542,y=0.21987,z=0.01219)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.97542,y=0.21987,z=0.01219)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.97554,y=0.21927,z=0.01435)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.97554,y=0.21927,z=0.01435)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.97570,y=0.21855,z=0.01742)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.97570,y=0.21855,z=0.01742)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.84365,y=0.53679,z=0.00898)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.84365,y=0.53679,z=0.00898)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.84377,y=0.53658,z=0.01010)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.84377,y=0.53658,z=0.01010)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.84392,y=0.53635,z=0.01156)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.84392,y=0.53635,z=0.01156)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.84409,y=0.53603,z=0.01350)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.84409,y=0.53603,z=0.01350)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.84429,y=0.53564,z=0.01624)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.84429,y=0.53564,z=0.01624)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.67031,y=0.74207,z=0.00733)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.67031,y=0.74207,z=0.00733)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.66976,y=0.74255,z=0.00807)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.66976,y=0.74255,z=0.00807)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.66908,y=0.74309,z=0.00898)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.66908,y=0.74309,z=0.00898)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.66836,y=0.74380,z=0.01013)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.66836,y=0.74380,z=0.01013)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.66740,y=0.74459,z=0.01161)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.66740,y=0.74459,z=0.01161)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.66621,y=0.74562,z=0.01360)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.66621,y=0.74562,z=0.01360)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.66465,y=0.74703,z=0.01641)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.66465,y=0.74703,z=0.01641)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.15981,y=0.98712,z=0.00888)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.15981,y=0.98712,z=0.00888)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.15979,y=0.98712,z=0.00999)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.15979,y=0.98712,z=0.00999)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.15976,y=0.98710,z=0.01141)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.15976,y=0.98710,z=0.01141)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.15972,y=0.98708,z=0.01331)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.15972,y=0.98708,z=0.01331)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.15967,y=0.98707,z=0.01597)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.15967,y=0.98707,z=0.01597)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.15959,y=0.98704,z=0.01995)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.15959,y=0.98704,z=0.01995)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.54059,y=0.84120,z=0.00965)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.54059,y=0.84120,z=0.00965)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.53870,y=0.84240,z=0.01099)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.53870,y=0.84240,z=0.01099)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.54081,y=0.84106,z=0.01273)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.54081,y=0.84106,z=0.01273)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.53821,y=0.84264,z=0.01516)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.53821,y=0.84264,z=0.01516)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.54124,y=0.84070,z=0.01866)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.54124,y=0.84070,z=0.01866)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.89868,y=0.43855,z=0.00737)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.89868,y=0.43855,z=0.00737)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.89903,y=0.43781,z=0.00810)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.89903,y=0.43781,z=0.00810)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.89944,y=0.43695,z=0.00899)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.89944,y=0.43695,z=0.00899)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.89990,y=0.43599,z=0.01011)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.89990,y=0.43599,z=0.01011)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.90043,y=0.43486,z=0.01154)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.90043,y=0.43486,z=0.01154)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.89980,y=0.43617,z=0.01353)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.89980,y=0.43617,z=0.01353)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.90047,y=0.43458,z=0.01622)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.90047,y=0.43458,z=0.01622)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.95187,y=0.30642,z=0.00661)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.95187,y=0.30642,z=0.00661)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.95180,y=0.30663,z=0.00721)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.95180,y=0.30663,z=0.00721)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.95174,y=0.30686,z=0.00793)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.95174,y=0.30686,z=0.00793)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.95163,y=0.30712,z=0.00881)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.95163,y=0.30712,z=0.00881)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.95153,y=0.30741,z=0.00991)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.95153,y=0.30741,z=0.00991)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.95142,y=0.30774,z=0.01133)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.95142,y=0.30774,z=0.01133)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.95125,y=0.30817,z=0.01321)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.95125,y=0.30817,z=0.01321)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.95102,y=0.30869,z=0.01585)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.95102,y=0.30869,z=0.01585)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.95077,y=0.30930,z=0.01981)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.95077,y=0.30930,z=0.01981)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.13625,y=0.99067,z=0.00378)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.13625,y=0.99067,z=0.00378)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.13705,y=0.99058,z=0.00397)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.13705,y=0.99058,z=0.00397)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.13791,y=0.99041,z=0.00418)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.13791,y=0.99041,z=0.00418)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.13888,y=0.99028,z=0.00441)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.13888,y=0.99028,z=0.00441)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.13997,y=0.99016,z=0.00467)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.13997,y=0.99016,z=0.00467)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.14118,y=0.98998,z=0.00495)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.14118,y=0.98998,z=0.00495)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.13996,y=0.99017,z=0.00528)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.13996,y=0.99017,z=0.00528)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.14134,y=0.98998,z=0.00565)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.14134,y=0.98998,z=0.00565)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.13995,y=0.99015,z=0.00608)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.13995,y=0.99015,z=0.00608)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.14156,y=0.98993,z=0.00658)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.14156,y=0.98993,z=0.00658)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.13994,y=0.99014,z=0.00718)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.13994,y=0.99014,z=0.00718)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.14186,y=0.98988,z=0.00788)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.14186,y=0.98988,z=0.00788)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.13991,y=0.99011,z=0.00874)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.13991,y=0.99011,z=0.00874)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.14231,y=0.98980,z=0.00981)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.14231,y=0.98980,z=0.00981)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.13984,y=0.99010,z=0.01119)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.13984,y=0.99010,z=0.01119)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.14304,y=0.98960,z=0.01300)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.14304,y=0.98960,z=0.01300)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.13977,y=0.99006,z=0.01553)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.13977,y=0.99006,z=0.01553)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.14450,y=0.98931,z=0.01927)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.14450,y=0.98931,z=0.01927)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99135,y=0.13128,z=0.00337)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99135,y=0.13128,z=0.00337)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99134,y=0.13130,z=0.00352)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99134,y=0.13130,z=0.00352)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99133,y=0.13132,z=0.00368)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99133,y=0.13132,z=0.00368)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99130,y=0.13134,z=0.00386)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99130,y=0.13134,z=0.00386)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99135,y=0.13137,z=0.00405)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99135,y=0.13137,z=0.00405)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99134,y=0.13139,z=0.00427)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99134,y=0.13139,z=0.00427)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99135,y=0.13143,z=0.00452)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99135,y=0.13143,z=0.00452)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99132,y=0.13146,z=0.00479)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99132,y=0.13146,z=0.00479)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99133,y=0.13150,z=0.00510)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99133,y=0.13150,z=0.00510)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99132,y=0.13154,z=0.00545)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99132,y=0.13154,z=0.00545)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99134,y=0.13159,z=0.00585)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99134,y=0.13159,z=0.00585)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99133,y=0.13165,z=0.00631)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99133,y=0.13165,z=0.00631)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99124,y=0.13171,z=0.00686)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99124,y=0.13171,z=0.00686)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99124,y=0.13179,z=0.00751)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99124,y=0.13179,z=0.00751)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99125,y=0.13189,z=0.00830)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99125,y=0.13189,z=0.00830)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99121,y=0.13201,z=0.00926)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99121,y=0.13201,z=0.00926)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99119,y=0.13216,z=0.01049)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99119,y=0.13216,z=0.01049)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99112,y=0.13235,z=0.01209)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99112,y=0.13235,z=0.01209)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99108,y=0.13262,z=0.01426)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99108,y=0.13262,z=0.01426)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99096,y=0.13300,z=0.01739)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99096,y=0.13300,z=0.01739)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.99972,y=0.02348,z=0.00391)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.99972,y=0.02348,z=0.00391)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.99970,y=0.02345,z=0.00411)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.99970,y=0.02345,z=0.00411)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.99972,y=0.02342,z=0.00434)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.99972,y=0.02342,z=0.00434)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.99970,y=0.02339,z=0.00459)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.99970,y=0.02339,z=0.00459)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.99972,y=0.02335,z=0.00486)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.99972,y=0.02335,z=0.00486)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.99970,y=0.02331,z=0.00518)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.99970,y=0.02331,z=0.00518)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.99972,y=0.02326,z=0.00554)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.99972,y=0.02326,z=0.00554)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.99970,y=0.02321,z=0.00595)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.99970,y=0.02321,z=0.00595)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.99971,y=0.02314,z=0.00643)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.99971,y=0.02314,z=0.00643)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.99971,y=0.02307,z=0.00699)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.99971,y=0.02307,z=0.00699)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.99968,y=0.02298,z=0.00766)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.99968,y=0.02298,z=0.00766)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.99970,y=0.02287,z=0.00847)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.99970,y=0.02287,z=0.00847)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.99972,y=0.02274,z=0.00948)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.99972,y=0.02274,z=0.00948)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.99968,y=0.02257,z=0.01075)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.99968,y=0.02257,z=0.01075)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.99970,y=0.02235,z=0.01242)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.99970,y=0.02235,z=0.01242)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.99963,y=0.02205,z=0.01470)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.99963,y=0.02205,z=0.01470)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.99956,y=0.02161,z=0.01801)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.99956,y=0.02161,z=0.01801)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.17014,y=-0.98544,z=0.00396)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.17014,y=-0.98544,z=0.00396)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.17064,y=-0.98535,z=0.00416)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.17064,y=-0.98535,z=0.00416)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.17119,y=-0.98525,z=0.00439)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.17119,y=-0.98525,z=0.00439)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.17181,y=-0.98510,z=0.00464)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.17181,y=-0.98510,z=0.00464)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.17251,y=-0.98502,z=0.00493)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.17251,y=-0.98502,z=0.00493)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.17329,y=-0.98486,z=0.00525)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.17329,y=-0.98486,z=0.00525)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.17419,y=-0.98473,z=0.00562)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.17419,y=-0.98473,z=0.00562)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.17522,y=-0.98458,z=0.00604)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.17522,y=-0.98458,z=0.00604)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.17641,y=-0.98429,z=0.00653)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.17641,y=-0.98429,z=0.00653)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.17782,y=-0.98402,z=0.00711)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.17782,y=-0.98402,z=0.00711)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.17951,y=-0.98373,z=0.00780)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.17951,y=-0.98373,z=0.00780)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.18154,y=-0.98337,z=0.00864)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.18154,y=-0.98337,z=0.00864)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.17937,y=-0.98372,z=0.00970)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.17937,y=-0.98372,z=0.00970)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.18195,y=-0.98324,z=0.01103)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.18195,y=-0.98324,z=0.01103)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.17916,y=-0.98375,z=0.01280)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.17916,y=-0.98375,z=0.01280)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.18268,y=-0.98310,z=0.01522)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.18268,y=-0.98310,z=0.01522)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.17872,y=-0.98373,z=0.01881)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.17872,y=-0.98373,z=0.01881)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.81818,y=-0.57489,z=0.00885)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.81818,y=-0.57489,z=0.00885)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.81890,y=-0.57382,z=0.00993)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.81890,y=-0.57382,z=0.00993)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.81977,y=-0.57254,z=0.01131)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.81977,y=-0.57254,z=0.01131)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.82080,y=-0.57101,z=0.01313)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.82080,y=-0.57101,z=0.01313)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.81960,y=-0.57278,z=0.01576)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.81960,y=-0.57278,z=0.01576)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.82112,y=-0.57048,z=0.01955)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.82112,y=-0.57048,z=0.01955)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.94154,y=-0.33688,z=0.00716)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.94154,y=-0.33688,z=0.00716)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.94133,y=-0.33746,z=0.00788)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.94133,y=-0.33746,z=0.00788)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.94108,y=-0.33809,z=0.00875)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.94108,y=-0.33809,z=0.00875)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.94079,y=-0.33883,z=0.00985)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.94079,y=-0.33883,z=0.00985)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.94048,y=-0.33970,z=0.01126)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.94048,y=-0.33970,z=0.01126)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.94005,y=-0.34072,z=0.01315)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.94005,y=-0.34072,z=0.01315)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.93960,y=-0.34197,z=0.01579)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.93960,y=-0.34197,z=0.01579)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.94007,y=-0.34038,z=0.01959)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.94007,y=-0.34038,z=0.01959)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.80611,y=-0.59170,z=0.00937)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.80611,y=-0.59170,z=0.00937)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.80636,y=-0.59130,z=0.01061)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.80636,y=-0.59130,z=0.01061)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.80669,y=-0.59084,z=0.01222)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.80669,y=-0.59084,z=0.01222)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.80709,y=-0.59026,z=0.01441)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.80709,y=-0.59026,z=0.01441)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.80759,y=-0.58945,z=0.01756)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.80759,y=-0.58945,z=0.01756)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.64751,y=-0.76199,z=0.00753)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.64751,y=-0.76199,z=0.00753)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.64798,y=-0.76162,z=0.00831)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.64798,y=-0.76162,z=0.00831)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.64851,y=-0.76116,z=0.00926)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.64851,y=-0.76116,z=0.00926)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.64915,y=-0.76061,z=0.01047)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.64915,y=-0.76061,z=0.01047)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.64990,y=-0.75990,z=0.01204)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.64990,y=-0.75990,z=0.01204)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.65091,y=-0.75902,z=0.01415)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.65091,y=-0.75902,z=0.01415)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.65225,y=-0.75781,z=0.01716)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.65225,y=-0.75781,z=0.01716)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.17938,y=-0.98372,z=0.00897)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.17938,y=-0.98372,z=0.00897)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.18175,y=-0.98330,z=0.01010)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.18175,y=-0.98330,z=0.01010)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.17919,y=-0.98375,z=0.01156)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.17919,y=-0.98375,z=0.01156)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.18232,y=-0.98319,z=0.01350)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.18232,y=-0.98319,z=0.01350)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.17883,y=-0.98375,z=0.01626)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.17883,y=-0.98375,z=0.01626)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.92607,y=-0.37740,z=0.00384)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.92607,y=-0.37740,z=0.00384)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.92608,y=-0.37729,z=0.00404)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.92608,y=-0.37729,z=0.00404)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.92611,y=-0.37718,z=0.00425)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.92611,y=-0.37718,z=0.00425)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.92619,y=-0.37707,z=0.00449)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.92619,y=-0.37707,z=0.00449)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.92625,y=-0.37694,z=0.00475)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.92625,y=-0.37694,z=0.00475)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.92627,y=-0.37679,z=0.00505)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.92627,y=-0.37679,z=0.00505)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.92636,y=-0.37666,z=0.00539)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.92636,y=-0.37666,z=0.00539)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.92641,y=-0.37648,z=0.00577)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.92641,y=-0.37648,z=0.00577)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.92648,y=-0.37631,z=0.00622)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.92648,y=-0.37631,z=0.00622)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.92656,y=-0.37611,z=0.00674)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.92656,y=-0.37611,z=0.00674)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.92663,y=-0.37591,z=0.00735)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.92663,y=-0.37591,z=0.00735)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.92672,y=-0.37566,z=0.00809)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.92672,y=-0.37566,z=0.00809)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.92679,y=-0.37540,z=0.00900)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.92679,y=-0.37540,z=0.00900)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.92691,y=-0.37512,z=0.01013)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.92691,y=-0.37512,z=0.01013)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.92706,y=-0.37476,z=0.01159)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.92706,y=-0.37476,z=0.01159)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.92717,y=-0.37432,z=0.01354)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.92717,y=-0.37432,z=0.01354)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.92736,y=-0.37379,z=0.01627)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.92736,y=-0.37379,z=0.01627)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.90521,y=-0.42495,z=0.00622)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.90521,y=-0.42495,z=0.00622)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.90498,y=-0.42544,z=0.00675)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.90498,y=-0.42544,z=0.00675)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.90474,y=-0.42596,z=0.00739)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.90474,y=-0.42596,z=0.00739)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.90443,y=-0.42655,z=0.00815)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.90443,y=-0.42655,z=0.00815)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.90410,y=-0.42722,z=0.00909)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.90410,y=-0.42722,z=0.00909)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.90372,y=-0.42802,z=0.01027)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.90372,y=-0.42802,z=0.01027)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.90324,y=-0.42892,z=0.01181)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.90324,y=-0.42892,z=0.01181)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.90272,y=-0.43006,z=0.01389)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.90272,y=-0.43006,z=0.01389)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.90197,y=-0.43144,z=0.01686)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.90197,y=-0.43144,z=0.01686)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.97866,y=0.20540,z=0.00689)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.97866,y=0.20540,z=0.00689)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.97874,y=0.20505,z=0.00753)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.97874,y=0.20505,z=0.00753)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.97881,y=0.20465,z=0.00830)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.97881,y=0.20465,z=0.00830)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.97889,y=0.20422,z=0.00923)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.97889,y=0.20422,z=0.00923)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.97895,y=0.20372,z=0.01041)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.97895,y=0.20372,z=0.01041)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.97905,y=0.20315,z=0.01194)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.97905,y=0.20315,z=0.01194)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.97916,y=0.20248,z=0.01399)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.97916,y=0.20248,z=0.01399)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.97932,y=0.20167,z=0.01689)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.97932,y=0.20167,z=0.01689)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.79935,y=-0.60065,z=0.01480)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.79935,y=-0.60065,z=0.01480)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.79928,y=-0.60071,z=0.01817)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.79928,y=-0.60071,z=0.01817)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.98375,y=0.17942,z=0.00734)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.98375,y=0.17942,z=0.00734)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.98369,y=0.17971,z=0.00810)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.98369,y=0.17971,z=0.00810)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.98362,y=0.18003,z=0.00902)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.98362,y=0.18003,z=0.00902)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.98355,y=0.18040,z=0.01019)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.98355,y=0.18040,z=0.01019)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.98344,y=0.18082,z=0.01171)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.98344,y=0.18082,z=0.01171)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.98335,y=0.18134,z=0.01375)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.98335,y=0.18134,z=0.01375)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.98316,y=0.18194,z=0.01666)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.98316,y=0.18194,z=0.01666)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.85455,y=0.51932,z=0.00886)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.85455,y=0.51932,z=0.00886)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.85505,y=0.51850,z=0.00994)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.85505,y=0.51850,z=0.00994)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.85557,y=0.51753,z=0.01133)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.85557,y=0.51753,z=0.01133)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.85622,y=0.51637,z=0.01317)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.85622,y=0.51637,z=0.01317)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.85706,y=0.51494,z=0.01573)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.85706,y=0.51494,z=0.01573)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.85811,y=0.51311,z=0.01950)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.85811,y=0.51311,z=0.01950)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.43849,y=0.89868,z=0.00750)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.43849,y=0.89868,z=0.00750)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.43837,y=0.89875,z=0.00827)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.43837,y=0.89875,z=0.00827)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.43822,y=0.89880,z=0.00923)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.43822,y=0.89880,z=0.00923)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.43803,y=0.89889,z=0.01043)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.43803,y=0.89889,z=0.01043)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.43778,y=0.89901,z=0.01199)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.43778,y=0.89901,z=0.01199)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.43742,y=0.89911,z=0.01411)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.43742,y=0.89911,z=0.01411)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.43698,y=0.89932,z=0.01714)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.43698,y=0.89932,z=0.01714)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.30356,y=0.95278,z=0.00675)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.30356,y=0.95278,z=0.00675)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.30219,y=0.95324,z=0.00737)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.30219,y=0.95324,z=0.00737)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.30054,y=0.95374,z=0.00812)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.30054,y=0.95374,z=0.00812)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.29853,y=0.95435,z=0.00905)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.29853,y=0.95435,z=0.00905)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.30068,y=0.95367,z=0.01019)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.30068,y=0.95367,z=0.01019)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.29811,y=0.95446,z=0.01169)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.29811,y=0.95446,z=0.01169)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.30092,y=0.95356,z=0.01368)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.30092,y=0.95356,z=0.01368)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.29732,y=0.95466,z=0.01652)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.29732,y=0.95466,z=0.01652)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.07180,y=0.99739,z=0.00684)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.07180,y=0.99739,z=0.00684)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.07104,y=0.99746,z=0.00748)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.07104,y=0.99746,z=0.00748)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.07012,y=0.99749,z=0.00825)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.07012,y=0.99749,z=0.00825)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.06899,y=0.99757,z=0.00920)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.06899,y=0.99757,z=0.00920)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.06756,y=0.99765,z=0.01039)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.06756,y=0.99765,z=0.01039)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.06571,y=0.99779,z=0.01195)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.06571,y=0.99779,z=0.01195)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.06321,y=0.99790,z=0.01405)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.06321,y=0.99790,z=0.01405)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.05965,y=0.99812,z=0.01704)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.05965,y=0.99812,z=0.01704)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.18823,y=0.98210,z=0.00672)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.18823,y=0.98210,z=0.00672)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.18719,y=0.98231,z=0.00734)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.18719,y=0.98231,z=0.00734)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.18594,y=0.98254,z=0.00808)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.18594,y=0.98254,z=0.00808)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.18441,y=0.98281,z=0.00900)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.18441,y=0.98281,z=0.00900)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.18250,y=0.98318,z=0.01014)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.18250,y=0.98318,z=0.01014)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.18003,y=0.98356,z=0.01162)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.18003,y=0.98356,z=0.01162)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.17675,y=0.98416,z=0.01360)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.17675,y=0.98416,z=0.01360)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.18006,y=0.98354,z=0.01637)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.18006,y=0.98354,z=0.01637)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.51336,y=0.85815,z=0.00878)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.51336,y=0.85815,z=0.00878)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.51274,y=0.85850,z=0.00986)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.51274,y=0.85850,z=0.00986)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.51198,y=0.85895,z=0.01125)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.51198,y=0.85895,z=0.01125)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.51097,y=0.85948,z=0.01310)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.51097,y=0.85948,z=0.01310)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.50968,y=0.86027,z=0.01568)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.50968,y=0.86027,z=0.01568)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.50776,y=0.86125,z=0.01953)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.50776,y=0.86125,z=0.01953)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.82018,y=0.57206,z=0.00686)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.82018,y=0.57206,z=0.00686)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.81955,y=0.57293,z=0.00752)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.81955,y=0.57293,z=0.00752)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.82018,y=0.57205,z=0.00828)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.82018,y=0.57205,z=0.00828)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.81940,y=0.57312,z=0.00926)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.81940,y=0.57312,z=0.00926)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.82018,y=0.57204,z=0.01045)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.82018,y=0.57204,z=0.01045)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.81918,y=0.57343,z=0.01205)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.81918,y=0.57343,z=0.01205)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.82013,y=0.57197,z=0.01414)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.82013,y=0.57197,z=0.01414)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.81868,y=0.57394,z=0.01724)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.81868,y=0.57394,z=0.01724)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.98527,y=-0.17090,z=0.00717)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.98527,y=-0.17090,z=0.00717)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.98522,y=-0.17104,z=0.00788)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.98522,y=-0.17104,z=0.00788)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.98521,y=-0.17121,z=0.00876)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.98521,y=-0.17121,z=0.00876)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.98518,y=-0.17142,z=0.00985)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.98518,y=-0.17142,z=0.00985)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.98508,y=-0.17168,z=0.01126)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.98508,y=-0.17168,z=0.01126)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.98504,y=-0.17205,z=0.01313)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.98504,y=-0.17205,z=0.01313)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.98488,y=-0.17255,z=0.01576)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.98488,y=-0.17255,z=0.01576)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.98464,y=-0.17330,z=0.01969)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.98464,y=-0.17330,z=0.01969)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.83937,y=-0.54343,z=0.00959)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.83937,y=-0.54343,z=0.00959)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.83938,y=-0.54341,z=0.01090)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.83938,y=-0.54341,z=0.01090)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.83938,y=-0.54339,z=0.01262)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.83938,y=-0.54339,z=0.01262)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.83940,y=-0.54336,z=0.01499)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.83940,y=-0.54336,z=0.01499)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.83933,y=-0.54326,z=0.01845)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.83933,y=-0.54326,z=0.01845)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.43942,y=-0.89824,z=0.00732)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.43942,y=-0.89824,z=0.00732)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.43944,y=-0.89824,z=0.00806)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.43944,y=-0.89824,z=0.00806)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.43946,y=-0.89821,z=0.00897)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.43946,y=-0.89821,z=0.00897)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.43942,y=-0.89823,z=0.01010)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.43942,y=-0.89823,z=0.01010)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.43936,y=-0.89825,z=0.01156)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.43936,y=-0.89825,z=0.01156)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.43925,y=-0.89823,z=0.01351)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.43925,y=-0.89823,z=0.01351)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.43913,y=-0.89827,z=0.01626)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.43913,y=-0.89827,z=0.01626)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.30728,y=-0.95158,z=0.00661)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.30728,y=-0.95158,z=0.00661)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.30626,y=-0.95195,z=0.00721)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.30626,y=-0.95195,z=0.00721)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.30501,y=-0.95231,z=0.00792)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.30501,y=-0.95231,z=0.00792)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.30352,y=-0.95280,z=0.00880)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.30352,y=-0.95280,z=0.00880)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.30167,y=-0.95337,z=0.00989)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.30167,y=-0.95337,z=0.00989)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.29930,y=-0.95409,z=0.01129)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.29930,y=-0.95409,z=0.01129)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.30217,y=-0.95316,z=0.01314)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.30217,y=-0.95316,z=0.01314)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.29898,y=-0.95413,z=0.01574)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.29898,y=-0.95413,z=0.01574)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.30318,y=-0.95277,z=0.01956)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.30318,y=-0.95277,z=0.01956)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.09820,y=-0.99514,z=0.00727)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.09820,y=-0.99514,z=0.00727)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.10001,y=-0.99495,z=0.00800)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.10001,y=-0.99495,z=0.00800)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.09780,y=-0.99515,z=0.00889)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.09780,y=-0.99515,z=0.00889)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.10001,y=-0.99495,z=0.01000)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.10001,y=-0.99495,z=0.01000)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.09717,y=-0.99519,z=0.01143)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.09717,y=-0.99519,z=0.01143)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.10001,y=-0.99486,z=0.01333)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.10001,y=-0.99486,z=0.01333)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.09605,y=-0.99527,z=0.01601)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.09605,y=-0.99527,z=0.01601)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.19645,y=-0.98049,z=0.00655)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.19645,y=-0.98049,z=0.00655)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.19614,y=-0.98056,z=0.00713)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.19614,y=-0.98056,z=0.00713)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.19577,y=-0.98061,z=0.00783)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.19577,y=-0.98061,z=0.00783)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.19532,y=-0.98069,z=0.00868)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.19532,y=-0.98069,z=0.00868)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.19478,y=-0.98081,z=0.00974)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.19478,y=-0.98081,z=0.00974)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.19408,y=-0.98093,z=0.01109)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.19408,y=-0.98093,z=0.01109)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.19315,y=-0.98107,z=0.01288)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.19315,y=-0.98107,z=0.01288)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.19188,y=-0.98127,z=0.01535)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.19188,y=-0.98127,z=0.01535)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.19001,y=-0.98157,z=0.01900)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.19001,y=-0.98157,z=0.01900)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.54097,y=-0.84100,z=0.00941)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.54097,y=-0.84100,z=0.00941)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.53916,y=-0.84215,z=0.01068)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.53916,y=-0.84215,z=0.01068)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.54121,y=-0.84078,z=0.01230)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.54121,y=-0.84078,z=0.01230)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.53877,y=-0.84230,z=0.01456)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.53877,y=-0.84230,z=0.01456)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.54169,y=-0.84033,z=0.01776)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.54169,y=-0.84033,z=0.01776)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.89736,y=-0.44136,z=0.00508)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.89736,y=-0.44136,z=0.00508)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.89754,y=-0.44088,z=0.00542)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.89754,y=-0.44088,z=0.00542)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.89780,y=-0.44039,z=0.00581)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.89780,y=-0.44039,z=0.00581)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.89805,y=-0.43983,z=0.00626)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.89805,y=-0.43983,z=0.00626)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.89838,y=-0.43922,z=0.00678)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.89838,y=-0.43922,z=0.00678)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.89866,y=-0.43853,z=0.00740)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.89866,y=-0.43853,z=0.00740)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.89903,y=-0.43780,z=0.00814)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.89903,y=-0.43780,z=0.00814)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.89944,y=-0.43695,z=0.00904)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.89944,y=-0.43695,z=0.00904)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.89989,y=-0.43597,z=0.01017)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.89989,y=-0.43597,z=0.01017)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.90043,y=-0.43483,z=0.01162)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.90043,y=-0.43483,z=0.01162)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.89979,y=-0.43613,z=0.01363)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.89979,y=-0.43613,z=0.01363)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.90054,y=-0.43453,z=0.01637)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.90054,y=-0.43453,z=0.01637)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> accel: 4
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99962,y=0.02712,z=0.00697)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99962,y=0.02712,z=0.00697)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99961,y=0.02712,z=0.00763)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99961,y=0.02712,z=0.00763)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99962,y=0.02712,z=0.00844)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99962,y=0.02712,z=0.00844)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99958,y=0.02712,z=0.00943)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99958,y=0.02712,z=0.00943)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99957,y=0.02712,z=0.01069)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99957,y=0.02712,z=0.01069)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99957,y=0.02712,z=0.01234)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99957,y=0.02712,z=0.01234)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99948,y=0.02712,z=0.01459)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99948,y=0.02712,z=0.01459)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99947,y=0.02712,z=0.01785)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99947,y=0.02712,z=0.01785)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.98375,y=0.17948,z=0.00686)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.98375,y=0.17948,z=0.00686)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.98368,y=0.17974,z=0.00751)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.98368,y=0.17974,z=0.00751)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.98360,y=0.18004,z=0.00830)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.98360,y=0.18004,z=0.00830)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.98353,y=0.18037,z=0.00928)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.98353,y=0.18037,z=0.00928)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.98349,y=0.18076,z=0.01052)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.98349,y=0.18076,z=0.01052)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.98337,y=0.18120,z=0.01214)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.98337,y=0.18120,z=0.01214)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.98328,y=0.18173,z=0.01435)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.98328,y=0.18173,z=0.01435)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.98306,y=0.18237,z=0.01756)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.98306,y=0.18237,z=0.01756)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.84930,y=0.52784,z=0.00908)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.84930,y=0.52784,z=0.00908)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.84962,y=0.52728,z=0.01024)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.84962,y=0.52728,z=0.01024)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.84999,y=0.52664,z=0.01172)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.84999,y=0.52664,z=0.01172)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.85048,y=0.52586,z=0.01372)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.85048,y=0.52586,z=0.01372)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.85103,y=0.52483,z=0.01653)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.85103,y=0.52483,z=0.01653)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.67229,y=0.74026,z=0.00739)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.67229,y=0.74026,z=0.00739)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.67185,y=0.74062,z=0.00814)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.67185,y=0.74062,z=0.00814)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.67136,y=0.74108,z=0.00907)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.67136,y=0.74108,z=0.00907)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.67076,y=0.74162,z=0.01024)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.67076,y=0.74162,z=0.01024)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.67000,y=0.74229,z=0.01175)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.67000,y=0.74229,z=0.01175)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.66901,y=0.74308,z=0.01379)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.66901,y=0.74308,z=0.01379)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.66772,y=0.74417,z=0.01669)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.66772,y=0.74417,z=0.01669)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.16544,y=0.98619,z=0.00894)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.16544,y=0.98619,z=0.00894)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.16611,y=0.98606,z=0.01007)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.16611,y=0.98606,z=0.01007)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.16696,y=0.98590,z=0.01151)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.16696,y=0.98590,z=0.01151)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.16809,y=0.98568,z=0.01345)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.16809,y=0.98568,z=0.01345)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.16967,y=0.98538,z=0.01616)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.16967,y=0.98538,z=0.01616)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.50998,y=0.86012,z=0.00872)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.50998,y=0.86012,z=0.00872)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.50908,y=0.86069,z=0.00979)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.50908,y=0.86069,z=0.00979)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.50793,y=0.86130,z=0.01116)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.50793,y=0.86130,z=0.01116)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.50646,y=0.86215,z=0.01299)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.50646,y=0.86215,z=0.01299)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.50450,y=0.86332,z=0.01552)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.50450,y=0.86332,z=0.01552)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.50164,y=0.86484,z=0.01929)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.50164,y=0.86484,z=0.01929)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.89661,y=0.44279,z=0.00750)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.89661,y=0.44279,z=0.00750)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.89693,y=0.44210,z=0.00827)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.89693,y=0.44210,z=0.00827)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.89729,y=0.44133,z=0.00920)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.89729,y=0.44133,z=0.00920)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.89771,y=0.44045,z=0.01038)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.89771,y=0.44045,z=0.01038)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.89822,y=0.43942,z=0.01190)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.89822,y=0.43942,z=0.01190)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.89883,y=0.43813,z=0.01393)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.89883,y=0.43813,z=0.01393)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.89954,y=0.43657,z=0.01681)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.89954,y=0.43657,z=0.01681)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.95258,y=0.30423,z=0.00668)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.95258,y=0.30423,z=0.00668)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.95252,y=0.30440,z=0.00730)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.95252,y=0.30440,z=0.00730)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.95241,y=0.30461,z=0.00804)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.95241,y=0.30461,z=0.00804)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.95234,y=0.30484,z=0.00894)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.95234,y=0.30484,z=0.00894)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.95228,y=0.30513,z=0.01008)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.95228,y=0.30513,z=0.01008)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.95217,y=0.30544,z=0.01154)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.95217,y=0.30544,z=0.01154)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.95199,y=0.30578,z=0.01350)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.95199,y=0.30578,z=0.01350)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.95184,y=0.30630,z=0.01627)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.95184,y=0.30630,z=0.01627)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.17283,y=0.98493,z=0.00372)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.17283,y=0.98493,z=0.00372)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.17343,y=0.98481,z=0.00390)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.17343,y=0.98481,z=0.00390)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.17411,y=0.98472,z=0.00410)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.17411,y=0.98472,z=0.00410)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.17485,y=0.98460,z=0.00432)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.17485,y=0.98460,z=0.00432)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.17566,y=0.98443,z=0.00456)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.17566,y=0.98443,z=0.00456)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.17658,y=0.98427,z=0.00484)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.17658,y=0.98427,z=0.00484)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.17762,y=0.98412,z=0.00515)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.17762,y=0.98412,z=0.00515)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.17878,y=0.98385,z=0.00550)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.17878,y=0.98385,z=0.00550)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.18013,y=0.98364,z=0.00591)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.18013,y=0.98364,z=0.00591)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.17860,y=0.98390,z=0.00638)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.17860,y=0.98390,z=0.00638)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.18015,y=0.98361,z=0.00693)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.18015,y=0.98361,z=0.00693)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.17833,y=0.98394,z=0.00759)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.17833,y=0.98394,z=0.00759)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.18020,y=0.98362,z=0.00838)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.18020,y=0.98362,z=0.00838)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.17794,y=0.98398,z=0.00937)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.17794,y=0.98398,z=0.00937)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.18027,y=0.98356,z=0.01060)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.18027,y=0.98356,z=0.01060)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.17736,y=0.98403,z=0.01223)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.17736,y=0.98403,z=0.01223)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.18039,y=0.98347,z=0.01443)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.18039,y=0.98347,z=0.01443)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.17623,y=0.98422,z=0.01762)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.17623,y=0.98422,z=0.01762)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.98906,y=0.14751,z=0.00339)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.98906,y=0.14751,z=0.00339)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.98904,y=0.14756,z=0.00354)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.98904,y=0.14756,z=0.00354)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.98902,y=0.14761,z=0.00370)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.98902,y=0.14761,z=0.00370)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.98904,y=0.14768,z=0.00389)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.98904,y=0.14768,z=0.00389)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.98901,y=0.14774,z=0.00409)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.98901,y=0.14774,z=0.00409)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.98901,y=0.14781,z=0.00431)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.98901,y=0.14781,z=0.00431)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.98900,y=0.14789,z=0.00456)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.98900,y=0.14789,z=0.00456)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.98896,y=0.14798,z=0.00484)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.98896,y=0.14798,z=0.00484)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.98895,y=0.14809,z=0.00515)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.98895,y=0.14809,z=0.00515)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.98897,y=0.14821,z=0.00551)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.98897,y=0.14821,z=0.00551)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.98894,y=0.14834,z=0.00592)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.98894,y=0.14834,z=0.00592)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.98889,y=0.14849,z=0.00640)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.98889,y=0.14849,z=0.00640)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.98886,y=0.14868,z=0.00696)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.98886,y=0.14868,z=0.00696)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.98881,y=0.14889,z=0.00764)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.98881,y=0.14889,z=0.00764)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.98877,y=0.14916,z=0.00845)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.98877,y=0.14916,z=0.00845)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.98870,y=0.14949,z=0.00946)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.98870,y=0.14949,z=0.00946)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.98867,y=0.14991,z=0.01075)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.98867,y=0.14991,z=0.01075)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.98857,y=0.15046,z=0.01243)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.98857,y=0.15046,z=0.01243)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.98849,y=0.15049,z=0.01475)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.98849,y=0.15049,z=0.01475)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.98839,y=0.15053,z=0.01814)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.98839,y=0.15053,z=0.01814)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.99970,y=0.02480,z=0.00387)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.99970,y=0.02480,z=0.00387)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.99968,y=0.02484,z=0.00407)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.99968,y=0.02484,z=0.00407)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.99971,y=0.02489,z=0.00429)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.99971,y=0.02489,z=0.00429)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.99970,y=0.02494,z=0.00453)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.99970,y=0.02494,z=0.00453)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.99965,y=0.02499,z=0.00481)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.99965,y=0.02499,z=0.00481)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.99967,y=0.02506,z=0.00511)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.99967,y=0.02506,z=0.00511)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.99969,y=0.02513,z=0.00546)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.99969,y=0.02513,z=0.00546)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.99971,y=0.02521,z=0.00586)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.99971,y=0.02521,z=0.00586)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.99967,y=0.02531,z=0.00633)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.99967,y=0.02531,z=0.00633)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.99964,y=0.02542,z=0.00687)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.99964,y=0.02542,z=0.00687)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.99965,y=0.02556,z=0.00752)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.99965,y=0.02556,z=0.00752)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.99962,y=0.02572,z=0.00830)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.99962,y=0.02572,z=0.00830)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.99963,y=0.02592,z=0.00926)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.99963,y=0.02592,z=0.00926)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.99958,y=0.02617,z=0.01047)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.99958,y=0.02617,z=0.01047)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.99959,y=0.02589,z=0.01204)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.99959,y=0.02589,z=0.01204)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.99958,y=0.02623,z=0.01418)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.99958,y=0.02623,z=0.01418)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.99948,y=0.02585,z=0.01723)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.99948,y=0.02585,z=0.01723)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.17989,y=-0.98366,z=0.00395)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.17989,y=-0.98366,z=0.00395)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.18090,y=-0.98351,z=0.00416)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.18090,y=-0.98351,z=0.00416)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.17989,y=-0.98370,z=0.00439)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.17989,y=-0.98370,z=0.00439)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.18101,y=-0.98347,z=0.00464)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.18101,y=-0.98347,z=0.00464)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.17988,y=-0.98367,z=0.00493)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.17988,y=-0.98367,z=0.00493)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.18115,y=-0.98344,z=0.00525)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.18115,y=-0.98344,z=0.00525)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.17987,y=-0.98368,z=0.00562)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.17987,y=-0.98368,z=0.00562)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.18133,y=-0.98342,z=0.00604)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.18133,y=-0.98342,z=0.00604)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.17986,y=-0.98368,z=0.00654)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.17986,y=-0.98368,z=0.00654)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.18157,y=-0.98334,z=0.00712)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.18157,y=-0.98334,z=0.00712)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.17982,y=-0.98367,z=0.00782)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.17982,y=-0.98367,z=0.00782)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.18190,y=-0.98329,z=0.00866)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.18190,y=-0.98329,z=0.00866)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.17977,y=-0.98367,z=0.00972)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.17977,y=-0.98367,z=0.00972)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.18240,y=-0.98314,z=0.01106)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.18240,y=-0.98314,z=0.01106)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.17967,y=-0.98363,z=0.01283)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.17967,y=-0.98363,z=0.01283)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.18329,y=-0.98289,z=0.01527)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.18329,y=-0.98289,z=0.01527)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.17946,y=-0.98356,z=0.01889)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.17946,y=-0.98356,z=0.01889)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.81912,y=-0.57356,z=0.00886)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.81912,y=-0.57356,z=0.00886)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.81987,y=-0.57242,z=0.00994)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.81987,y=-0.57242,z=0.00994)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.82079,y=-0.57110,z=0.01132)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.82079,y=-0.57110,z=0.01132)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.81978,y=-0.57259,z=0.01322)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.81978,y=-0.57259,z=0.01322)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.82097,y=-0.57073,z=0.01579)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.82097,y=-0.57073,z=0.01579)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.81943,y=-0.57291,z=0.01974)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.81943,y=-0.57291,z=0.01974)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.94199,y=-0.33564,z=0.00716)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.94199,y=-0.33564,z=0.00716)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.94176,y=-0.33619,z=0.00788)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.94176,y=-0.33619,z=0.00788)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.94153,y=-0.33685,z=0.00876)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.94153,y=-0.33685,z=0.00876)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.94127,y=-0.33757,z=0.00986)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.94127,y=-0.33757,z=0.00986)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.94094,y=-0.33840,z=0.01127)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.94094,y=-0.33840,z=0.01127)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.94054,y=-0.33938,z=0.01315)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.94054,y=-0.33938,z=0.01315)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.94004,y=-0.34063,z=0.01580)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.94004,y=-0.34063,z=0.01580)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.93947,y=-0.34217,z=0.01978)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.93947,y=-0.34217,z=0.01978)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.80656,y=-0.59109,z=0.00938)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.80656,y=-0.59109,z=0.00938)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.80683,y=-0.59063,z=0.01062)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.80683,y=-0.59063,z=0.01062)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.80725,y=-0.59015,z=0.01223)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.80725,y=-0.59015,z=0.01223)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.80761,y=-0.58948,z=0.01442)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.80761,y=-0.58948,z=0.01442)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.80822,y=-0.58868,z=0.01757)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.80822,y=-0.58868,z=0.01757)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.64773,y=-0.76180,z=0.00753)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.64773,y=-0.76180,z=0.00753)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.64821,y=-0.76140,z=0.00831)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.64821,y=-0.76140,z=0.00831)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.64877,y=-0.76092,z=0.00927)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.64877,y=-0.76092,z=0.00927)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.64941,y=-0.76034,z=0.01047)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.64941,y=-0.76034,z=0.01047)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.65025,y=-0.75964,z=0.01204)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.65025,y=-0.75964,z=0.01204)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.65123,y=-0.75868,z=0.01416)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.65123,y=-0.75868,z=0.01416)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.65264,y=-0.75749,z=0.01717)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.65264,y=-0.75749,z=0.01717)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.17945,y=-0.98371,z=0.00897)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.17945,y=-0.98371,z=0.00897)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.18183,y=-0.98329,z=0.01010)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.18183,y=-0.98329,z=0.01010)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.17929,y=-0.98376,z=0.01157)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.17929,y=-0.98376,z=0.01157)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.18242,y=-0.98311,z=0.01351)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.18242,y=-0.98311,z=0.01351)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.17896,y=-0.98373,z=0.01627)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.17896,y=-0.98373,z=0.01627)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.82070,y=-0.57141,z=0.00582)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.82070,y=-0.57141,z=0.00582)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.82017,y=-0.57211,z=0.00628)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.82017,y=-0.57211,z=0.00628)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.81960,y=-0.57290,z=0.00683)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.81960,y=-0.57290,z=0.00683)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.82018,y=-0.57204,z=0.00746)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.82018,y=-0.57204,z=0.00746)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.81950,y=-0.57299,z=0.00824)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.81950,y=-0.57299,z=0.00824)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.82023,y=-0.57196,z=0.00916)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.82023,y=-0.57196,z=0.00916)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.81937,y=-0.57315,z=0.01037)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.81937,y=-0.57315,z=0.01037)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.82030,y=-0.57177,z=0.01189)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.82030,y=-0.57177,z=0.01189)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.81915,y=-0.57341,z=0.01400)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.81915,y=-0.57341,z=0.01400)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.82050,y=-0.57148,z=0.01692)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.82050,y=-0.57148,z=0.01692)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.92601,y=-0.37747,z=0.00493)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.92601,y=-0.37747,z=0.00493)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.92606,y=-0.37732,z=0.00525)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.92606,y=-0.37732,z=0.00525)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.92614,y=-0.37719,z=0.00561)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.92614,y=-0.37719,z=0.00561)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.92619,y=-0.37702,z=0.00603)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.92619,y=-0.37702,z=0.00603)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.92627,y=-0.37683,z=0.00652)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.92627,y=-0.37683,z=0.00652)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.92632,y=-0.37663,z=0.00710)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.92632,y=-0.37663,z=0.00710)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.92644,y=-0.37643,z=0.00779)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.92644,y=-0.37643,z=0.00779)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.92652,y=-0.37618,z=0.00862)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.92652,y=-0.37618,z=0.00862)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.92659,y=-0.37589,z=0.00965)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.92659,y=-0.37589,z=0.00965)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.92675,y=-0.37558,z=0.01097)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.92675,y=-0.37558,z=0.01097)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.92687,y=-0.37520,z=0.01270)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.92687,y=-0.37520,z=0.01270)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.92704,y=-0.37475,z=0.01507)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.92704,y=-0.37475,z=0.01507)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.92721,y=-0.37416,z=0.01854)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.92721,y=-0.37416,z=0.01854)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.95676,y=0.29083,z=0.00843)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.95676,y=0.29083,z=0.00843)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.95670,y=0.29092,z=0.00943)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.95670,y=0.29092,z=0.00943)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.95665,y=0.29104,z=0.01069)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.95665,y=0.29104,z=0.01069)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.95661,y=0.29119,z=0.01234)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.95661,y=0.29119,z=0.01234)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.95648,y=0.29133,z=0.01460)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.95648,y=0.29133,z=0.01460)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.95638,y=0.29154,z=0.01788)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.95638,y=0.29154,z=0.01788)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.71885,y=0.69519,z=0.00617)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.71885,y=0.69519,z=0.00617)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.71877,y=0.69520,z=0.00669)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.71877,y=0.69520,z=0.00669)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.71872,y=0.69526,z=0.00730)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.71872,y=0.69526,z=0.00730)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.71865,y=0.69532,z=0.00803)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.71865,y=0.69532,z=0.00803)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.71856,y=0.69540,z=0.00893)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.71856,y=0.69540,z=0.00893)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.71849,y=0.69548,z=0.01005)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.71849,y=0.69548,z=0.01005)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.71839,y=0.69557,z=0.01149)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.71839,y=0.69557,z=0.01149)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.71822,y=0.69566,z=0.01342)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.71822,y=0.69566,z=0.01342)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.71803,y=0.69585,z=0.01614)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.71803,y=0.69585,z=0.01614)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.28192,y=0.95942,z=0.00714)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.28192,y=0.95942,z=0.00714)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.28210,y=0.95936,z=0.00784)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.28210,y=0.95936,z=0.00784)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.28230,y=0.95930,z=0.00869)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.28230,y=0.95930,z=0.00869)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.28254,y=0.95918,z=0.00974)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.28254,y=0.95918,z=0.00974)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.28288,y=0.95912,z=0.01109)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.28288,y=0.95912,z=0.01109)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.28329,y=0.95892,z=0.01288)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.28329,y=0.95892,z=0.01288)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.28385,y=0.95873,z=0.01534)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.28385,y=0.95873,z=0.01534)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.28468,y=0.95844,z=0.01898)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.28468,y=0.95844,z=0.01898)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.83901,y=0.54410,z=0.00615)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.83901,y=0.54410,z=0.00615)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.83896,y=0.54412,z=0.00666)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.83896,y=0.54412,z=0.00666)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.83892,y=0.54417,z=0.00726)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.83892,y=0.54417,z=0.00726)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.83889,y=0.54424,z=0.00799)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.83889,y=0.54424,z=0.00799)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.83884,y=0.54427,z=0.00888)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.83884,y=0.54427,z=0.00888)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.83882,y=0.54434,z=0.00999)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.83882,y=0.54434,z=0.00999)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.83875,y=0.54439,z=0.01141)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.83875,y=0.54439,z=0.01141)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.83866,y=0.54446,z=0.01331)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.83866,y=0.54446,z=0.01331)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.83852,y=0.54456,z=0.01597)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.83852,y=0.54456,z=0.01597)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.83840,y=0.54476,z=0.01996)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.83840,y=0.54476,z=0.01996)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.79849,y=0.60190,z=0.00854)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.79849,y=0.60190,z=0.00854)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.79843,y=0.60198,z=0.00956)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.79843,y=0.60198,z=0.00956)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.79834,y=0.60207,z=0.01086)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.79834,y=0.60207,z=0.01086)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.79825,y=0.60220,z=0.01257)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.79825,y=0.60220,z=0.01257)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.79809,y=0.60237,z=0.01492)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.79809,y=0.60237,z=0.01492)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.79787,y=0.60253,z=0.01834)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.79787,y=0.60253,z=0.01834)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.65454,y=0.75601,z=0.00603)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.65454,y=0.75601,z=0.00603)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.65522,y=0.75543,z=0.00652)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.65522,y=0.75543,z=0.00652)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.65597,y=0.75472,z=0.00709)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.65597,y=0.75472,z=0.00709)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.65687,y=0.75396,z=0.00777)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.65687,y=0.75396,z=0.00777)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.65790,y=0.75306,z=0.00860)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.65790,y=0.75306,z=0.00860)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.65913,y=0.75199,z=0.00962)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.65913,y=0.75199,z=0.00962)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.66059,y=0.75067,z=0.01092)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.66059,y=0.75067,z=0.01092)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.65885,y=0.75217,z=0.01267)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.65885,y=0.75217,z=0.01267)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.66081,y=0.75039,z=0.01502)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.66081,y=0.75039,z=0.01502)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.65826,y=0.75255,z=0.01854)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.65826,y=0.75255,z=0.01854)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.34045,y=0.94022,z=0.00717)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.34045,y=0.94022,z=0.00717)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.33875,y=0.94083,z=0.00788)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.33875,y=0.94083,z=0.00788)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.34056,y=0.94017,z=0.00873)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.34056,y=0.94017,z=0.00873)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.33845,y=0.94095,z=0.00981)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.33845,y=0.94095,z=0.00981)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.34073,y=0.94013,z=0.01117)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.34073,y=0.94013,z=0.01117)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.33793,y=0.94106,z=0.01300)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.33793,y=0.94106,z=0.01300)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.34100,y=0.93993,z=0.01550)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.34100,y=0.93993,z=0.01550)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.33690,y=0.94138,z=0.01925)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.33690,y=0.94138,z=0.01925)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.71250,y=0.70163,z=0.00805)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.71250,y=0.70163,z=0.00805)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.71199,y=0.70213,z=0.00896)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.71199,y=0.70213,z=0.00896)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.71158,y=0.70250,z=0.01009)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.71158,y=0.70250,z=0.01009)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.71110,y=0.70301,z=0.01156)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.71110,y=0.70301,z=0.01156)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.71042,y=0.70365,z=0.01353)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.71042,y=0.70365,z=0.01353)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.70945,y=0.70456,z=0.01631)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.70945,y=0.70456,z=0.01631)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.99645,y=-0.08425,z=0.00540)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.99645,y=-0.08425,z=0.00540)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.99640,y=-0.08429,z=0.00579)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.99640,y=-0.08429,z=0.00579)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.99643,y=-0.08434,z=0.00625)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.99643,y=-0.08434,z=0.00625)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.99640,y=-0.08439,z=0.00678)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.99640,y=-0.08439,z=0.00678)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.99640,y=-0.08445,z=0.00741)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.99640,y=-0.08445,z=0.00741)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.99640,y=-0.08453,z=0.00817)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.99640,y=-0.08453,z=0.00817)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.99636,y=-0.08462,z=0.00910)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.99636,y=-0.08462,z=0.00910)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.99635,y=-0.08474,z=0.01027)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.99635,y=-0.08474,z=0.01027)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.99634,y=-0.08489,z=0.01179)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.99634,y=-0.08489,z=0.01179)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.99626,y=-0.08510,z=0.01384)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.99626,y=-0.08510,z=0.01384)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.99623,y=-0.08539,z=0.01674)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.99623,y=-0.08539,z=0.01674)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.91320,y=0.40739,z=0.00887)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.91320,y=0.40739,z=0.00887)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.91308,y=0.40764,z=0.00998)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.91308,y=0.40764,z=0.00998)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.91293,y=0.40796,z=0.01141)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.91293,y=0.40796,z=0.01141)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.91272,y=0.40839,z=0.01332)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.91272,y=0.40839,z=0.01332)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.91243,y=0.40899,z=0.01601)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.91243,y=0.40899,z=0.01601)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.97118,y=-0.23816,z=0.00806)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.97118,y=-0.23816,z=0.00806)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.97131,y=-0.23768,z=0.00895)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.97131,y=-0.23768,z=0.00895)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.97131,y=-0.23754,z=0.01006)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.97131,y=-0.23754,z=0.01006)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.97133,y=-0.23737,z=0.01150)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.97133,y=-0.23737,z=0.01150)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.97140,y=-0.23716,z=0.01340)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.97140,y=-0.23716,z=0.01340)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.97142,y=-0.23683,z=0.01606)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.97142,y=-0.23683,z=0.01606)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.74135,y=-0.67111,z=0.00600)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.74135,y=-0.67111,z=0.00600)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.74070,y=-0.67183,z=0.00650)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.74070,y=-0.67183,z=0.00650)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.73992,y=-0.67266,z=0.00708)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.73992,y=-0.67266,z=0.00708)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.74077,y=-0.67174,z=0.00776)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.74077,y=-0.67174,z=0.00776)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.73984,y=-0.67274,z=0.00860)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.73984,y=-0.67274,z=0.00860)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.74085,y=-0.67157,z=0.00962)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.74085,y=-0.67157,z=0.00962)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.73969,y=-0.67285,z=0.01096)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.73969,y=-0.67285,z=0.01096)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.74102,y=-0.67135,z=0.01267)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.74102,y=-0.67135,z=0.01267)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.73940,y=-0.67316,z=0.01509)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.73940,y=-0.67316,z=0.01509)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.74136,y=-0.67084,z=0.01853)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.74136,y=-0.67084,z=0.01853)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.32880,y=-0.94436,z=0.00739)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.32880,y=-0.94436,z=0.00739)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.32961,y=-0.94410,z=0.00814)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.32961,y=-0.94410,z=0.00814)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.33057,y=-0.94376,z=0.00906)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.33057,y=-0.94376,z=0.00906)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.33175,y=-0.94330,z=0.01021)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.33175,y=-0.94330,z=0.01021)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.33327,y=-0.94275,z=0.01169)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.33327,y=-0.94275,z=0.01169)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.33530,y=-0.94205,z=0.01369)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.33530,y=-0.94205,z=0.01369)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.33806,y=-0.94097,z=0.01649)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.33806,y=-0.94097,z=0.01649)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.82942,y=-0.55861,z=0.00586)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.82942,y=-0.55861,z=0.00586)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.82915,y=-0.55901,z=0.00633)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.82915,y=-0.55901,z=0.00633)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.82887,y=-0.55944,z=0.00688)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.82887,y=-0.55944,z=0.00688)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.82854,y=-0.55991,z=0.00753)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.82854,y=-0.55991,z=0.00753)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.82816,y=-0.56044,z=0.00832)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.82816,y=-0.56044,z=0.00832)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.82772,y=-0.56108,z=0.00930)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.82772,y=-0.56108,z=0.00930)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.82719,y=-0.56180,z=0.01054)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.82719,y=-0.56180,z=0.01054)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.82659,y=-0.56269,z=0.01216)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.82659,y=-0.56269,z=0.01216)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.82579,y=-0.56376,z=0.01436)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.82579,y=-0.56376,z=0.01436)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.82477,y=-0.56523,z=0.01755)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.82477,y=-0.56523,z=0.01755)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.76223,y=-0.64721,z=0.00861)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.76223,y=-0.64721,z=0.00861)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.76237,y=-0.64709,z=0.00965)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.76237,y=-0.64709,z=0.00965)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.76248,y=-0.64691,z=0.01097)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.76248,y=-0.64691,z=0.01097)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.76264,y=-0.64672,z=0.01271)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.76264,y=-0.64672,z=0.01271)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.76284,y=-0.64645,z=0.01511)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.76284,y=-0.64645,z=0.01511)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.76308,y=-0.64610,z=0.01861)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.76308,y=-0.64610,z=0.01861)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.64362,y=-0.76534,z=0.00604)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.64362,y=-0.76534,z=0.00604)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.64380,y=-0.76520,z=0.00654)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.64380,y=-0.76520,z=0.00654)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.64396,y=-0.76500,z=0.00712)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.64396,y=-0.76500,z=0.00712)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.64418,y=-0.76481,z=0.00781)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.64418,y=-0.76481,z=0.00781)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.64444,y=-0.76459,z=0.00865)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.64444,y=-0.76459,z=0.00865)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.64476,y=-0.76430,z=0.00970)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.64476,y=-0.76430,z=0.00970)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.64516,y=-0.76399,z=0.01103)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.64516,y=-0.76399,z=0.01103)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.64561,y=-0.76355,z=0.01278)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.64561,y=-0.76355,z=0.01278)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.64624,y=-0.76302,z=0.01521)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.64624,y=-0.76302,z=0.01521)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.64710,y=-0.76226,z=0.01876)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.64710,y=-0.76226,z=0.01876)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.34694,y=-0.93788,z=0.00715)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.34694,y=-0.93788,z=0.00715)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.34580,y=-0.93827,z=0.00786)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.34580,y=-0.93827,z=0.00786)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.34445,y=-0.93877,z=0.00872)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.34445,y=-0.93877,z=0.00872)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.34277,y=-0.93938,z=0.00979)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.34277,y=-0.93938,z=0.00979)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.34063,y=-0.94014,z=0.01117)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.34063,y=-0.94014,z=0.01117)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.33784,y=-0.94114,z=0.01299)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.33784,y=-0.94114,z=0.01299)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.34087,y=-0.93996,z=0.01549)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.34087,y=-0.93996,z=0.01549)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.33680,y=-0.94140,z=0.01925)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.33680,y=-0.94140,z=0.01925)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.88005,y=-0.47490,z=0.00545)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.88005,y=-0.47490,z=0.00545)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.88006,y=-0.47491,z=0.00585)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.88006,y=-0.47491,z=0.00585)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.88005,y=-0.47491,z=0.00631)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.88005,y=-0.47491,z=0.00631)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.88002,y=-0.47490,z=0.00685)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.88002,y=-0.47490,z=0.00685)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.88003,y=-0.47492,z=0.00749)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.88003,y=-0.47492,z=0.00749)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.87999,y=-0.47490,z=0.00826)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.87999,y=-0.47490,z=0.00826)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.87998,y=-0.47491,z=0.00921)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.87998,y=-0.47491,z=0.00921)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.87998,y=-0.47491,z=0.01041)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.87998,y=-0.47491,z=0.01041)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.87997,y=-0.47491,z=0.01197)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.87997,y=-0.47491,z=0.01197)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.87991,y=-0.47488,z=0.01408)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.87991,y=-0.47488,z=0.01408)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.87989,y=-0.47487,z=0.01708)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.87989,y=-0.47487,z=0.01708)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.66916,y=0.74313,z=0.00197)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.66916,y=0.74313,z=0.00197)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.66898,y=0.74323,z=0.00201)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.66898,y=0.74323,z=0.00201)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.66887,y=0.74343,z=0.00207)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.66887,y=0.74343,z=0.00207)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.66868,y=0.74355,z=0.00212)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.66868,y=0.74355,z=0.00212)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.66848,y=0.74367,z=0.00218)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.66848,y=0.74367,z=0.00218)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.66835,y=0.74389,z=0.00224)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.66835,y=0.74389,z=0.00224)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.66817,y=0.74405,z=0.00231)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.66817,y=0.74405,z=0.00231)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.66794,y=0.74419,z=0.00238)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.66794,y=0.74419,z=0.00238)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.66773,y=0.74438,z=0.00245)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.66773,y=0.74438,z=0.00245)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.66755,y=0.74461,z=0.00253)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.66755,y=0.74461,z=0.00253)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.66731,y=0.74481,z=0.00261)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.66731,y=0.74481,z=0.00261)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.66705,y=0.74499,z=0.00270)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.66705,y=0.74499,z=0.00270)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.66680,y=0.74522,z=0.00280)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.66680,y=0.74522,z=0.00280)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.66654,y=0.74547,z=0.00290)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.66654,y=0.74547,z=0.00290)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.66627,y=0.74573,z=0.00301)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.66627,y=0.74573,z=0.00301)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.66597,y=0.74599,z=0.00313)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.66597,y=0.74599,z=0.00313)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.66565,y=0.74627,z=0.00326)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.66565,y=0.74627,z=0.00326)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.66530,y=0.74656,z=0.00339)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.66530,y=0.74656,z=0.00339)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.66495,y=0.74691,z=0.00355)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.66495,y=0.74691,z=0.00355)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.66456,y=0.74725,z=0.00371)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.66456,y=0.74725,z=0.00371)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.66413,y=0.74763,z=0.00390)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.66413,y=0.74763,z=0.00390)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.66365,y=0.74800,z=0.00410)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.66365,y=0.74800,z=0.00410)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.66318,y=0.74847,z=0.00432)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.66318,y=0.74847,z=0.00432)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.66265,y=0.74895,z=0.00457)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.66265,y=0.74895,z=0.00457)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.66205,y=0.74948,z=0.00485)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.66205,y=0.74948,z=0.00485)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.66138,y=0.75002,z=0.00517)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.66138,y=0.75002,z=0.00517)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.66067,y=0.75067,z=0.00553)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.66067,y=0.75067,z=0.00553)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.65985,y=0.75137,z=0.00594)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.65985,y=0.75137,z=0.00594)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.66074,y=0.75059,z=0.00641)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.66074,y=0.75059,z=0.00641)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.65980,y=0.75140,z=0.00698)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.65980,y=0.75140,z=0.00698)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.66086,y=0.75048,z=0.00764)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.66086,y=0.75048,z=0.00764)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.65971,y=0.75148,z=0.00846)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.65971,y=0.75148,z=0.00846)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.66104,y=0.75033,z=0.00944)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.66104,y=0.75033,z=0.00944)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.65959,y=0.75155,z=0.01073)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.65959,y=0.75155,z=0.01073)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.66127,y=0.75002,z=0.01236)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.66127,y=0.75002,z=0.01236)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.65934,y=0.75172,z=0.01465)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.65934,y=0.75172,z=0.01465)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.66172,y=0.74953,z=0.01788)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.66172,y=0.74953,z=0.01788)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.13523,y=0.99086,z=0.00629)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.13523,y=0.99086,z=0.00629)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.13649,y=0.99062,z=0.00682)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.13649,y=0.99062,z=0.00682)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.13800,y=0.99041,z=0.00746)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.13800,y=0.99041,z=0.00746)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.13981,y=0.99014,z=0.00822)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.13981,y=0.99014,z=0.00822)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.14204,y=0.98983,z=0.00916)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.14204,y=0.98983,z=0.00916)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.13976,y=0.99012,z=0.01035)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.13976,y=0.99012,z=0.01035)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.14264,y=0.98972,z=0.01189)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.14264,y=0.98972,z=0.01189)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.13966,y=0.99009,z=0.01397)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.13966,y=0.99009,z=0.01397)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.14373,y=0.98951,z=0.01691)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.14373,y=0.98951,z=0.01691)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.50661,y=0.86214,z=0.00897)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.50661,y=0.86214,z=0.00897)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.50533,y=0.86285,z=0.01011)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.50533,y=0.86285,z=0.01011)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.50368,y=0.86378,z=0.01158)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.50368,y=0.86378,z=0.01158)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.50162,y=0.86496,z=0.01356)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.50162,y=0.86496,z=0.01356)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.49869,y=0.86658,z=0.01635)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.49869,y=0.86658,z=0.01635)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.74276,y=0.66949,z=0.00997)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.74276,y=0.66949,z=0.00997)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.74155,y=0.67081,z=0.01141)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.74155,y=0.67081,z=0.01141)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.74025,y=0.67223,z=0.01334)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.74025,y=0.67223,z=0.01334)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.73836,y=0.67416,z=0.01605)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.73836,y=0.67416,z=0.01605)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.99514,y=0.09780,z=0.01144)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.99514,y=0.09780,z=0.01144)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.99505,y=0.09817,z=0.01336)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.99505,y=0.09817,z=0.01336)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.99503,y=0.09790,z=0.01605)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.99503,y=0.09790,z=0.01605)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.91076,y=-0.41282,z=0.00915)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.91076,y=-0.41282,z=0.00915)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.91050,y=-0.41335,z=0.01035)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.91050,y=-0.41335,z=0.01035)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.91017,y=-0.41404,z=0.01190)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.91017,y=-0.41404,z=0.01190)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.90999,y=-0.41439,z=0.01400)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.90999,y=-0.41439,z=0.01400)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.90971,y=-0.41490,z=0.01700)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.90971,y=-0.41490,z=0.01700)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.53785,y=-0.84302,z=0.00585)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.53785,y=-0.84302,z=0.00585)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.53889,y=-0.84237,z=0.00630)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.53889,y=-0.84237,z=0.00630)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.54009,y=-0.84159,z=0.00684)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.54009,y=-0.84159,z=0.00684)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.53870,y=-0.84247,z=0.00748)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.53870,y=-0.84247,z=0.00748)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.54014,y=-0.84155,z=0.00825)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.54014,y=-0.84155,z=0.00825)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.53853,y=-0.84259,z=0.00921)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.53853,y=-0.84259,z=0.00921)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.54021,y=-0.84148,z=0.01039)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.54021,y=-0.84148,z=0.01039)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.53812,y=-0.84281,z=0.01196)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.53812,y=-0.84281,z=0.01196)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.54035,y=-0.84133,z=0.01404)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.54035,y=-0.84133,z=0.01404)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.53736,y=-0.84323,z=0.01706)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.53736,y=-0.84323,z=0.01706)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.27880,y=0.96030,z=0.01115)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.27880,y=0.96030,z=0.01115)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.27862,y=0.96034,z=0.01296)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.27862,y=0.96034,z=0.01296)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.27836,y=0.96034,z=0.01546)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.27836,y=0.96034,z=0.01546)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.27799,y=0.96041,z=0.01917)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.27799,y=0.96041,z=0.01917)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.56926,y=0.82207,z=0.00933)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.56926,y=0.82207,z=0.00933)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.57010,y=0.82152,z=0.01056)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.57010,y=0.82152,z=0.01056)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.57108,y=0.82077,z=0.01215)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.57108,y=0.82077,z=0.01215)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.57237,y=0.81992,z=0.01431)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.57237,y=0.81992,z=0.01431)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.57411,y=0.81855,z=0.01740)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.57411,y=0.81855,z=0.01740)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.77582,y=0.63087,z=0.01021)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.77582,y=0.63087,z=0.01021)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.77683,y=0.62964,z=0.01168)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.77683,y=0.62964,z=0.01168)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.77779,y=0.62837,z=0.01364)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.77779,y=0.62837,z=0.01364)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.77913,y=0.62659,z=0.01640)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.77913,y=0.62659,z=0.01640)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99813,y=0.06068,z=0.01134)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99813,y=0.06068,z=0.01134)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99808,y=0.06081,z=0.01322)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99808,y=0.06081,z=0.01322)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99802,y=0.06099,z=0.01584)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99802,y=0.06099,z=0.01584)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.99792,y=0.06126,z=0.01976)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.99792,y=0.06126,z=0.01976)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.87935,y=-0.47615,z=0.00999)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.87935,y=-0.47615,z=0.00999)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.87925,y=-0.47616,z=0.01142)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.87925,y=-0.47616,z=0.01142)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.87924,y=-0.47625,z=0.01332)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.87924,y=-0.47625,z=0.01332)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.87915,y=-0.47634,z=0.01598)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.87915,y=-0.47634,z=0.01598)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.87903,y=-0.47648,z=0.01998)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.87903,y=-0.47648,z=0.01998)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.50225,y=-0.86472,z=0.00605)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.50225,y=-0.86472,z=0.00605)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.50114,y=-0.86536,z=0.00655)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.50114,y=-0.86536,z=0.00655)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.49980,y=-0.86608,z=0.00714)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.49980,y=-0.86608,z=0.00714)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.50135,y=-0.86522,z=0.00783)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.50135,y=-0.86522,z=0.00783)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.49982,y=-0.86609,z=0.00869)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.49982,y=-0.86609,z=0.00869)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.50163,y=-0.86504,z=0.00974)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.50163,y=-0.86504,z=0.00974)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.49972,y=-0.86613,z=0.01111)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.49972,y=-0.86613,z=0.01111)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.50209,y=-0.86476,z=0.01287)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.50209,y=-0.86476,z=0.01287)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.49950,y=-0.86621,z=0.01537)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.49950,y=-0.86621,z=0.01537)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=0.50294,y=-0.86411,z=0.01898)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=0.50294,y=-0.86411,z=0.01898)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.54148,y=-0.84071,z=0.00193)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.54148,y=-0.84071,z=0.00193)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.54113,y=-0.84087,z=0.00198)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.54113,y=-0.84087,z=0.00198)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.54083,y=-0.84116,z=0.00203)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.54083,y=-0.84116,z=0.00203)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.54048,y=-0.84139,z=0.00209)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.54048,y=-0.84139,z=0.00209)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.54009,y=-0.84159,z=0.00214)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.54009,y=-0.84159,z=0.00214)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.53969,y=-0.84182,z=0.00220)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.53969,y=-0.84182,z=0.00220)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.54011,y=-0.84160,z=0.00226)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.54011,y=-0.84160,z=0.00226)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.53967,y=-0.84183,z=0.00233)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.53967,y=-0.84183,z=0.00233)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.54009,y=-0.84156,z=0.00240)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.54009,y=-0.84156,z=0.00240)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.53968,y=-0.84188,z=0.00248)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.53968,y=-0.84188,z=0.00248)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.54013,y=-0.84159,z=0.00255)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.54013,y=-0.84159,z=0.00255)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.53968,y=-0.84191,z=0.00264)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.53968,y=-0.84191,z=0.00264)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.54014,y=-0.84159,z=0.00273)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.54014,y=-0.84159,z=0.00273)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.53965,y=-0.84191,z=0.00283)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.53965,y=-0.84191,z=0.00283)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.54014,y=-0.84155,z=0.00293)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.54014,y=-0.84155,z=0.00293)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.53964,y=-0.84194,z=0.00304)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.53964,y=-0.84194,z=0.00304)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.54015,y=-0.84154,z=0.00316)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.54015,y=-0.84154,z=0.00316)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.53959,y=-0.84193,z=0.00329)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.53959,y=-0.84193,z=0.00329)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.54019,y=-0.84155,z=0.00343)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.54019,y=-0.84155,z=0.00343)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.53957,y=-0.84197,z=0.00359)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.53957,y=-0.84197,z=0.00359)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.54023,y=-0.84156,z=0.00375)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.54023,y=-0.84156,z=0.00375)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.53951,y=-0.84194,z=0.00394)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.53951,y=-0.84194,z=0.00394)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.54024,y=-0.84152,z=0.00414)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.54024,y=-0.84152,z=0.00414)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.53947,y=-0.84199,z=0.00437)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.53947,y=-0.84199,z=0.00437)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.54026,y=-0.84147,z=0.00462)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.54026,y=-0.84147,z=0.00462)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.53942,y=-0.84203,z=0.00490)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.53942,y=-0.84203,z=0.00490)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.54031,y=-0.84145,z=0.00522)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.54031,y=-0.84145,z=0.00522)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.53934,y=-0.84207,z=0.00559)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.53934,y=-0.84207,z=0.00559)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.54036,y=-0.84140,z=0.00600)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.54036,y=-0.84140,z=0.00600)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.53923,y=-0.84212,z=0.00650)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.53923,y=-0.84212,z=0.00650)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.54044,y=-0.84136,z=0.00706)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.54044,y=-0.84136,z=0.00706)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.53910,y=-0.84223,z=0.00776)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.53910,y=-0.84223,z=0.00776)
[drone](DEBUG)> accel: 4
[drone](DEBUG)> dir: (x=-0.54054,y=-0.84127,z=0.00858)
[drone](DEBUG)> accel: -4
[drone](DEBUG)> dir: (x=-0.54054,y=-0.84127,