* ==> Start Path
   [ 0]     qtv    move NO_MOVE   dir SOUTH_EAST  loc -1100,-2456  DistToNext 698.621521
    Speed 7, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir SOUTH_EAST  loc -606,-2950  DistToNext 0.000000
    Speed 7, FLAG 1
     time 179.64   tot 179.64
  End Path <===
* ==> Start Path
   [ 0]     qtv    move NO_MOVE   dir SOUTH_EAST  loc -1456,-2308  DistToNext 698.621521
    Speed 7, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir SOUTH_EAST  loc -962,-2802  DistToNext 0.000000
    Speed 7, FLAG 1
     time 179.64   tot 179.64
  End Path <===
* ==> Start Path
   [ 0]     qtv    move NO_MOVE   dir SOUTH_EAST  loc -1204,-2304  DistToNext 698.621521
    Speed 7, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir SOUTH_EAST  loc -710,-2798  DistToNext 0.000000
    Speed 7, FLAG 1
     time 179.64   tot 179.64
  End Path <===
* ==> Start Path
   [ 0]     qtv    move NO_MOVE   dir SOUTH_EAST  loc -1564,-2312  DistToNext 698.621521
    Speed 7, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir SOUTH_EAST  loc -1070,-2806  DistToNext 0.000000
    Speed 7, FLAG 1
     time 179.64   tot 179.64
  End Path <===
* ==> Start Path
   [ 0]     qtv    move NO_MOVE   dir SOUTH_EAST  loc -1696,-2328  DistToNext 698.621521
    Speed 7, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir SOUTH_EAST  loc -1202,-2822  DistToNext 0.000000
    Speed 7, FLAG 1
     time 179.64   tot 179.64
  End Path <===
* ==> Start Path
   [ 0]     qtv    move NO_MOVE   dir SOUTH_EAST  loc -996,-2456  DistToNext 698.621521
    Speed 7, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir SOUTH_EAST  loc -502,-2950  DistToNext 0.000000
    Speed 7, FLAG 1
     time 179.64   tot 179.64
  End Path <===
* ==> Start Path
   [ 0]     qtv    move NO_MOVE   dir SOUTH_EAST  loc -702,-2402  DistToNext 698.621521
    Speed 7, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir SOUTH_EAST  loc -208,-2896  DistToNext 0.000000
    Speed 7, FLAG 1
     time 179.64   tot 179.64
  End Path <===
* ==> Start Path
   [ 0]     qtv    move NO_MOVE   dir SOUTH_EAST  loc -1368,-2308  DistToNext 698.621521
    Speed 7, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir SOUTH_EAST  loc -874,-2802  DistToNext 0.000000
    Speed 7, FLAG 1
     time 179.64   tot 179.64
  End Path <===
* ==> Start Path
   [ 0]     qtv    move NO_MOVE   dir SOUTH_EAST  loc -884,-2364  DistToNext 698.621521
    Speed 7, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir SOUTH_EAST  loc -390,-2858  DistToNext 0.000000
    Speed 7, FLAG 1
     time 179.64   tot 179.64
  End Path <===
* ==> Start Path
   [ 0]     qtv    move NO_MOVE   dir EAST  loc -1504,-3596  DistToNext 600.000000
    Speed 6, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir EAST  loc -904,-3596  DistToNext 0.000000
    Speed 6, FLAG 1
     time 180.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move NO_MOVE   dir EAST  loc -700,-3504  DistToNext 600.000000
    Speed 6, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir EAST  loc -100,-3504  DistToNext 0.000000
    Speed 6, FLAG 1
     time 180.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move NO_MOVE   dir EAST  loc -1736,-3556  DistToNext 600.000000
    Speed 6, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir EAST  loc -1136,-3556  DistToNext 0.000000
    Speed 6, FLAG 1
     time 180.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move NO_MOVE   dir EAST  loc -952,-3448  DistToNext 600.000000
    Speed 6, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir EAST  loc -352,-3448  DistToNext 0.000000
    Speed 6, FLAG 1
     time 180.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move NO_MOVE   dir EAST  loc -1304,-3500  DistToNext 600.000000
    Speed 6, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir EAST  loc -704,-3500  DistToNext 0.000000
    Speed 6, FLAG 1
     time 180.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move NO_MOVE   dir EAST  loc -1100,-3556  DistToNext 600.000000
    Speed 6, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir EAST  loc -500,-3556  DistToNext 0.000000
    Speed 6, FLAG 1
     time 180.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move NO_MOVE   dir EAST  loc 744,-54  DistToNext 600.000000
    Speed 6, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir EAST  loc 1344,-54  DistToNext 0.000000
    Speed 6, FLAG 1
     time 180.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move NO_MOVE   dir EAST  loc 600,-4  DistToNext 600.000000
    Speed 6, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir EAST  loc 1200,-4  DistToNext 0.000000
    Speed 6, FLAG 1
     time 180.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move NO_MOVE   dir EAST  loc 474,48  DistToNext 600.000000
    Speed 6, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir EAST  loc 1074,48  DistToNext 0.000000
    Speed 6, FLAG 1
     time 180.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move NO_MOVE   dir EAST  loc 334,144  DistToNext 600.000000
    Speed 6, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir EAST  loc 934,144  DistToNext 0.000000
    Speed 6, FLAG 1
     time 180.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move NO_MOVE   dir EAST  loc 188,250  DistToNext 600.000000
    Speed 6, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir EAST  loc 788,250  DistToNext 0.000000
    Speed 6, FLAG 1
     time 180.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move NO_MOVE   dir EAST  loc 64,300  DistToNext 500.000000
    Speed 5, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir EAST  loc 564,300  DistToNext 0.000000
    Speed 5, FLAG 1
     time 180.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move NO_MOVE   dir EAST  loc -118,356  DistToNext 600.000000
    Speed 6, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir EAST  loc 482,356  DistToNext 0.000000
    Speed 6, FLAG 1
     time 180.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move NO_MOVE   dir EAST  loc -286,446  DistToNext 600.000000
    Speed 6, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir EAST  loc 314,446  DistToNext 0.000000
    Speed 6, FLAG 1
     time 180.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move NO_MOVE   dir EAST  loc -468,548  DistToNext 600.000000
    Speed 6, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir EAST  loc 132,548  DistToNext 0.000000
    Speed 6, FLAG 1
     time 180.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move NO_MOVE   dir EAST  loc -662,632  DistToNext 600.000000
    Speed 6, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir EAST  loc -62,632  DistToNext 0.000000
    Speed 6, FLAG 1
     time 180.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move NO_MOVE   dir SOUTH  loc 60,1600  DistToNext 600.000000
    Speed 6, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir SOUTH  loc 60,1000  DistToNext 0.000000
    Speed 6, FLAG 1
     time 180.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move NO_MOVE   dir NORTH  loc 1484,1634  DistToNext 200.000000
    Speed 2, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir NORTH  loc 1484,1834  DistToNext 0.000000
    Speed 2, FLAG 1
     time 180.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move NO_MOVE   dir NORTH  loc 1598,1286  DistToNext 200.000000
    Speed 2, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir NORTH  loc 1598,1486  DistToNext 0.000000
    Speed 2, FLAG 1
     time 180.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move NO_MOVE   dir NORTH  loc 1618,772  DistToNext 200.000000
    Speed 2, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir NORTH  loc 1618,972  DistToNext 0.000000
    Speed 2, FLAG 1
     time 180.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move NO_MOVE   dir NORTH  loc 2328,566  DistToNext 200.000000
    Speed 2, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir NORTH  loc 2328,766  DistToNext 0.000000
    Speed 2, FLAG 1
     time 180.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move NO_MOVE   dir NORTH  loc 1750,536  DistToNext 200.000000
    Speed 2, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir NORTH  loc 1750,736  DistToNext 0.000000
    Speed 2, FLAG 1
     time 180.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move NO_MOVE   dir NORTH  loc 1930,242  DistToNext 200.000000
    Speed 2, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir NORTH  loc 1930,442  DistToNext 0.000000
    Speed 2, FLAG 1
     time 180.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move NO_MOVE   dir NORTH  loc 1596,-250  DistToNext 200.000000
    Speed 2, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir NORTH  loc 1596,-50  DistToNext 0.000000
    Speed 2, FLAG 1
     time 180.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move NO_MOVE   dir NORTH  loc 1628,-1004  DistToNext 200.000000
    Speed 2, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir NORTH  loc 1628,-804  DistToNext 0.000000
    Speed 2, FLAG 1
     time 180.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move NO_MOVE   dir NORTH  loc 1418,-696  DistToNext 200.000000
    Speed 2, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir NORTH  loc 1418,-496  DistToNext 0.000000
    Speed 2, FLAG 1
     time 180.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move NO_MOVE   dir NORTH  loc 1726,980  DistToNext 200.000000
    Speed 2, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir NORTH  loc 1726,1180  DistToNext 0.000000
    Speed 2, FLAG 1
     time 180.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move NO_MOVE   dir NORTH  loc 1498,-22  DistToNext 60.000000
    Speed 2, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir NORTH  loc 1498,38  DistToNext 0.000000
    Speed 2, FLAG 1
     time 54.00   tot 54.00
   [ 2]     qtv    move STBD_TURN   dir NORTH_EAST  loc 1498,38  DistToNext 59.396969
    Speed 0, FLAG 1
     time  0.00   tot 54.00
   [ 3]     qtv    move FORWARD   dir NORTH_EAST  loc 1540,80  DistToNext 0.000000
    Speed 4, FLAG 1
     time 26.73   tot 80.73
   [ 4]     qtv    move STBD_TURN   dir EAST  loc 1540,80  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot 80.73
   [ 5]     qtv    move FORWARD   dir EAST  loc 1600,80  DistToNext 0.000000
    Speed 6, FLAG 1
     time 18.00   tot 98.73
   [ 6]     qtv    move STBD_TURN   dir SOUTH_EAST  loc 1600,80  DistToNext 59.396969
    Speed 0, FLAG 1
     time  0.00   tot 98.73
   [ 7]     qtv    move FORWARD   dir SOUTH_EAST  loc 1642,38  DistToNext 0.000000
    Speed 5, FLAG 1
     time 21.38   tot 120.11
   [ 8]     qtv    move STBD_TURN   dir SOUTH  loc 1642,38  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot 120.11
   [ 9]     qtv    move FORWARD   dir SOUTH  loc 1642,-22  DistToNext 0.000000
    Speed 6, FLAG 1
     time 18.00   tot 138.11
   [10]     qtv    move STBD_TURN   dir SOUTH_WEST  loc 1642,-22  DistToNext 59.396969
    Speed 0, FLAG 1
     time  0.00   tot 138.11
   [11]     qtv    move FORWARD   dir SOUTH_WEST  loc 1600,-64  DistToNext 0.000000
    Speed 4, FLAG 1
     time 26.73   tot 164.84
   [12]     qtv    move STBD_TURN   dir WEST  loc 1600,-64  DistToNext 16.000000
    Speed 0, FLAG 1
     time  0.00   tot 164.84
   [13]     qtv    move FORWARD   dir WEST  loc 1584,-64  DistToNext 27.000000
    Speed 2, FLAG 1
     time 14.40   tot 179.24
   [14]     qtv    move FORWARD   dir WEST  loc 1557,-64  DistToNext 0.000000
    Speed 2, FLAG 2
     time 24.30   tot 203.54
  End Path <===
* ==> Start Path
   [ 0]     qtv    move NO_MOVE   dir NORTH  loc 1500,-504  DistToNext 200.000000
    Speed 2, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir NORTH  loc 1500,-304  DistToNext 0.000000
    Speed 2, FLAG 1
     time 180.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir EAST  loc 1344,-54  DistToNext 0.000000
    Speed 5, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move PORT_TURN   dir NORTH_EAST  loc 1344,-54  DistToNext 138.592926
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move FORWARD   dir NORTH_EAST  loc 1442,44  DistToNext 0.000000
    Speed 3, FLAG 1
     time 83.16   tot 83.16
   [ 3]     qtv    move PORT_TURN   dir NORTH  loc 1442,44  DistToNext 70.000000
    Speed 0, FLAG 1
     time  0.00   tot 83.16
   [ 4]     qtv    move FORWARD   dir NORTH  loc 1442,114  DistToNext 0.000000
    Speed 2, FLAG 1
     time 63.00   tot 146.15
   [ 5]     qtv    move PORT_TURN   dir NORTH_WEST  loc 1442,114  DistToNext 70.710678
    Speed 2, FLAG 1
     time  0.00   tot 146.15
   [ 6]     qtv    move FORWARD   dir NORTH_WEST  loc 1392,164  DistToNext 0.000000
    Speed 2, FLAG 1
     time 63.64   tot 209.79
   [ 7]     qtv    move PORT_TURN   dir WEST  loc 1392,164  DistToNext 0.000000
    Speed 2, FLAG 1
     time  0.00   tot 209.79
   [ 8]     qtv    move PORT_TURN   dir SOUTH_WEST  loc 1392,164  DistToNext 70.710678
    Speed 0, FLAG 1
     time  0.00   tot 209.79
   [ 9]     qtv    move FORWARD   dir SOUTH_WEST  loc 1342,114  DistToNext 0.000000
    Speed 3, FLAG 1
     time 42.43   tot 252.22
   [10]     qtv    move STBD_TURN   dir WEST  loc 1342,114  DistToNext 106.000000
    Speed 3, FLAG 1
     time  0.00   tot 252.22
   [11]     qtv    move FORWARD   dir WEST  loc 1236,114  DistToNext 0.000000
    Speed 2, FLAG 1
     time 95.40   tot 347.62
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir EAST  loc 1200,-4  DistToNext 0.000000
    Speed 6, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move PORT_TURN   dir NORTH_EAST  loc 1200,-4  DistToNext 138.592926
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move FORWARD   dir NORTH_EAST  loc 1298,94  DistToNext 0.000000
    Speed 4, FLAG 1
     time 62.37   tot 62.37
   [ 3]     qtv    move PORT_TURN   dir NORTH  loc 1298,94  DistToNext 70.000000
    Speed 0, FLAG 1
     time  0.00   tot 62.37
   [ 4]     qtv    move FORWARD   dir NORTH  loc 1298,164  DistToNext 0.000000
    Speed 2, FLAG 1
     time 63.00   tot 125.37
   [ 5]     qtv    move PORT_TURN   dir NORTH_WEST  loc 1298,164  DistToNext 70.710678
    Speed 2, FLAG 1
     time  0.00   tot 125.37
   [ 6]     qtv    move FORWARD   dir NORTH_WEST  loc 1248,214  DistToNext 0.000000
    Speed 2, FLAG 1
     time 63.64   tot 189.00
   [ 7]     qtv    move PORT_TURN   dir WEST  loc 1248,214  DistToNext 0.000000
    Speed 2, FLAG 1
     time  0.00   tot 189.00
   [ 8]     qtv    move PORT_TURN   dir SOUTH_WEST  loc 1248,214  DistToNext 70.710678
    Speed 0, FLAG 1
     time  0.00   tot 189.00
   [ 9]     qtv    move FORWARD   dir SOUTH_WEST  loc 1198,164  DistToNext 0.000000
    Speed 4, FLAG 1
     time 31.82   tot 220.82
   [10]     qtv    move STBD_TURN   dir WEST  loc 1198,164  DistToNext 130.000000
    Speed 4, FLAG 1
     time  0.00   tot 220.82
   [11]     qtv    move FORWARD   dir WEST  loc 1068,164  DistToNext 0.000000
    Speed 2, FLAG 1
     time 117.00   tot 337.82
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir EAST  loc 1074,48  DistToNext 0.000000
    Speed 6, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move PORT_TURN   dir NORTH_EAST  loc 1074,48  DistToNext 138.592926
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move FORWARD   dir NORTH_EAST  loc 1172,146  DistToNext 0.000000
    Speed 4, FLAG 1
     time 62.37   tot 62.37
   [ 3]     qtv    move PORT_TURN   dir NORTH  loc 1172,146  DistToNext 70.000000
    Speed 0, FLAG 1
     time  0.00   tot 62.37
   [ 4]     qtv    move FORWARD   dir NORTH  loc 1172,216  DistToNext 0.000000
    Speed 2, FLAG 1
     time 63.00   tot 125.37
   [ 5]     qtv    move PORT_TURN   dir NORTH_WEST  loc 1172,216  DistToNext 70.710678
    Speed 2, FLAG 1
     time  0.00   tot 125.37
   [ 6]     qtv    move FORWARD   dir NORTH_WEST  loc 1122,266  DistToNext 0.000000
    Speed 2, FLAG 1
     time 63.64   tot 189.00
   [ 7]     qtv    move PORT_TURN   dir WEST  loc 1122,266  DistToNext 0.000000
    Speed 2, FLAG 1
     time  0.00   tot 189.00
   [ 8]     qtv    move PORT_TURN   dir SOUTH_WEST  loc 1122,266  DistToNext 70.710678
    Speed 0, FLAG 1
     time  0.00   tot 189.00
   [ 9]     qtv    move FORWARD   dir SOUTH_WEST  loc 1072,216  DistToNext 0.000000
    Speed 4, FLAG 1
     time 31.82   tot 220.82
   [10]     qtv    move STBD_TURN   dir WEST  loc 1072,216  DistToNext 130.000000
    Speed 4, FLAG 1
     time  0.00   tot 220.82
   [11]     qtv    move FORWARD   dir WEST  loc 942,216  DistToNext 0.000000
    Speed 2, FLAG 1
     time 117.00   tot 337.82
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir EAST  loc 934,144  DistToNext 600.000000
    Speed 6, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move BACK_SAIL   dir EAST  loc 1534,144  DistToNext 0.000000
    Speed 5, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move FORWARD   dir EAST  loc 1534,144  DistToNext 0.000000
    Speed 5, FLAG 1
     time  0.00   tot  0.00
   [ 3]     qtv    move NO_DIRECTION   dir EAST  loc 1534,144  DistToNext 0.000000
    Speed 0, FLAG 1
     time  0.00   tot  0.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir EAST  loc 788,250  DistToNext 600.000000
    Speed 6, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move BACK_SAIL   dir EAST  loc 1388,250  DistToNext 0.000000
    Speed 5, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move FORWARD   dir EAST  loc 1388,250  DistToNext 0.000000
    Speed 5, FLAG 1
     time  0.00   tot  0.00
   [ 3]     qtv    move NO_DIRECTION   dir EAST  loc 1388,250  DistToNext 0.000000
    Speed 0, FLAG 1
     time  0.00   tot  0.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir EAST  loc 564,300  DistToNext 500.000000
    Speed 5, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move BACK_SAIL   dir EAST  loc 1064,300  DistToNext 0.000000
    Speed 4, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move FORWARD   dir EAST  loc 1064,300  DistToNext 0.000000
    Speed 4, FLAG 1
     time  0.00   tot  0.00
   [ 3]     qtv    move NO_DIRECTION   dir EAST  loc 1064,300  DistToNext 0.000000
    Speed 0, FLAG 1
     time  0.00   tot  0.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir EAST  loc 482,356  DistToNext 600.000000
    Speed 6, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir EAST  loc 1082,356  DistToNext 0.000000
    Speed 6, FLAG 1
     time 180.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir EAST  loc 314,446  DistToNext 600.000000
    Speed 6, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir EAST  loc 914,446  DistToNext 0.000000
    Speed 6, FLAG 1
     time 180.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir EAST  loc 132,548  DistToNext 600.000000
    Speed 6, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir EAST  loc 732,548  DistToNext 0.000000
    Speed 6, FLAG 1
     time 180.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir EAST  loc -62,632  DistToNext 600.000000
    Speed 6, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir EAST  loc 538,632  DistToNext 0.000000
    Speed 6, FLAG 1
     time 180.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir SOUTH  loc 60,1000  DistToNext 0.000000
    Speed 5, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move PORT_TURN   dir SOUTH_EAST  loc 60,1000  DistToNext 59.396969
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move FORWARD   dir SOUTH_EAST  loc 102,958  DistToNext 0.000000
    Speed 5, FLAG 1
     time 21.38   tot 21.38
   [ 3]     qtv    move PORT_TURN   dir EAST  loc 102,958  DistToNext 440.000000
    Speed 0, FLAG 1
     time  0.00   tot 21.38
   [ 4]     qtv    move FORWARD   dir EAST  loc 542,958  DistToNext 0.000000
    Speed 5, FLAG 1
     time 158.40   tot 179.78
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir NORTH  loc 1484,1834  DistToNext 0.000000
    Speed 2, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move STBD_TURN   dir NORTH_EAST  loc 1484,1834  DistToNext 0.000000
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move PORT_TURN   dir NORTH  loc 1484,1834  DistToNext 60.000000
    Speed 2, FLAG 1
     time  0.00   tot  0.00
   [ 3]     qtv    move FORWARD   dir NORTH  loc 1484,1894  DistToNext 0.000000
    Speed 2, FLAG 1
     time 54.00   tot 54.00
   [ 4]     qtv    move PORT_TURN   dir NORTH_WEST  loc 1484,1894  DistToNext 60.811184
    Speed 2, FLAG 1
     time  0.00   tot 54.00
   [ 5]     qtv    move FORWARD   dir NORTH_WEST  loc 1441,1937  DistToNext 0.000000
    Speed 2, FLAG 1
     time 54.73   tot 108.73
   [ 6]     qtv    move PORT_TURN   dir WEST  loc 1441,1937  DistToNext 0.000000
    Speed 2, FLAG 1
     time  0.00   tot 108.73
   [ 7]     qtv    move PORT_TURN   dir SOUTH_WEST  loc 1441,1937  DistToNext 156.977707
    Speed 0, FLAG 1
     time  0.00   tot 108.73
   [ 8]     qtv    move FORWARD   dir SOUTH_WEST  loc 1330,1826  DistToNext 0.000000
    Speed 4, FLAG 1
     time 70.64   tot 179.37
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir NORTH  loc 1598,1486  DistToNext 0.000000
    Speed 2, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move STBD_TURN   dir NORTH_EAST  loc 1598,1486  DistToNext 0.000000
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move PORT_TURN   dir NORTH  loc 1598,1486  DistToNext 60.000000
    Speed 2, FLAG 1
     time  0.00   tot  0.00
   [ 3]     qtv    move FORWARD   dir NORTH  loc 1598,1546  DistToNext 0.000000
    Speed 2, FLAG 1
     time 54.00   tot 54.00
   [ 4]     qtv    move PORT_TURN   dir NORTH_WEST  loc 1598,1546  DistToNext 60.811184
    Speed 2, FLAG 1
     time  0.00   tot 54.00
   [ 5]     qtv    move FORWARD   dir NORTH_WEST  loc 1555,1589  DistToNext 0.000000
    Speed 2, FLAG 1
     time 54.73   tot 108.73
   [ 6]     qtv    move PORT_TURN   dir WEST  loc 1555,1589  DistToNext 0.000000
    Speed 2, FLAG 1
     time  0.00   tot 108.73
   [ 7]     qtv    move PORT_TURN   dir SOUTH_WEST  loc 1555,1589  DistToNext 156.977707
    Speed 0, FLAG 1
     time  0.00   tot 108.73
   [ 8]     qtv    move FORWARD   dir SOUTH_WEST  loc 1444,1478  DistToNext 0.000000
    Speed 4, FLAG 1
     time 70.64   tot 179.37
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir NORTH  loc 1618,972  DistToNext 60.000000
    Speed 2, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir NORTH  loc 1618,1032  DistToNext 0.000000
    Speed 2, FLAG 1
     time 54.00   tot 54.00
   [ 2]     qtv    move STBD_TURN   dir NORTH_EAST  loc 1618,1032  DistToNext 59.396969
    Speed 0, FLAG 1
     time  0.00   tot 54.00
   [ 3]     qtv    move FORWARD   dir NORTH_EAST  loc 1660,1074  DistToNext 0.000000
    Speed 4, FLAG 1
     time 26.73   tot 80.73
   [ 4]     qtv    move STBD_TURN   dir EAST  loc 1660,1074  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot 80.73
   [ 5]     qtv    move FORWARD   dir EAST  loc 1720,1074  DistToNext 0.000000
    Speed 6, FLAG 1
     time 18.00   tot 98.73
   [ 6]     qtv    move STBD_TURN   dir SOUTH_EAST  loc 1720,1074  DistToNext 59.396969
    Speed 0, FLAG 1
     time  0.00   tot 98.73
   [ 7]     qtv    move FORWARD   dir SOUTH_EAST  loc 1762,1032  DistToNext 0.000000
    Speed 5, FLAG 1
     time 21.38   tot 120.11
   [ 8]     qtv    move STBD_TURN   dir SOUTH  loc 1762,1032  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot 120.11
   [ 9]     qtv    move FORWARD   dir SOUTH  loc 1762,972  DistToNext 0.000000
    Speed 6, FLAG 1
     time 18.00   tot 138.11
   [10]     qtv    move STBD_TURN   dir SOUTH_WEST  loc 1762,972  DistToNext 59.396969
    Speed 0, FLAG 1
     time  0.00   tot 138.11
   [11]     qtv    move FORWARD   dir SOUTH_WEST  loc 1720,930  DistToNext 0.000000
    Speed 4, FLAG 1
     time 26.73   tot 164.84
   [12]     qtv    move STBD_TURN   dir WEST  loc 1720,930  DistToNext 16.000000
    Speed 0, FLAG 1
     time  0.00   tot 164.84
   [13]     qtv    move FORWARD   dir WEST  loc 1704,930  DistToNext 27.000000
    Speed 2, FLAG 1
     time 14.40   tot 179.24
   [14]     qtv    move FORWARD   dir WEST  loc 1677,930  DistToNext 0.000000
    Speed 2, FLAG 2
     time 24.30   tot 203.54
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir NORTH  loc 2328,766  DistToNext 0.000000
    Speed 2, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move STBD_TURN   dir NORTH_EAST  loc 2328,766  DistToNext 0.000000
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move PORT_TURN   dir NORTH  loc 2328,766  DistToNext 70.000000
    Speed 2, FLAG 1
     time  0.00   tot  0.00
   [ 3]     qtv    move FORWARD   dir NORTH  loc 2328,836  DistToNext 0.000000
    Speed 2, FLAG 1
     time 63.00   tot 63.00
   [ 4]     qtv    move PORT_TURN   dir NORTH_WEST  loc 2328,836  DistToNext 70.710678
    Speed 2, FLAG 1
     time  0.00   tot 63.00
   [ 5]     qtv    move FORWARD   dir NORTH_WEST  loc 2278,886  DistToNext 0.000000
    Speed 2, FLAG 1
     time 63.64   tot 126.64
   [ 6]     qtv    move PORT_TURN   dir WEST  loc 2278,886  DistToNext 0.000000
    Speed 2, FLAG 1
     time  0.00   tot 126.64
   [ 7]     qtv    move PORT_TURN   dir SOUTH_WEST  loc 2278,886  DistToNext 87.681244
    Speed 0, FLAG 1
     time  0.00   tot 126.64
   [ 8]     qtv    move FORWARD   dir SOUTH_WEST  loc 2216,824  DistToNext 33.941124
    Speed 3, FLAG 1
     time 52.61   tot 179.25
   [ 9]     qtv    move FORWARD   dir SOUTH_WEST  loc 2192,800  DistToNext 0.000000
    Speed 3, FLAG 2
     time 20.36   tot 199.61
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir NORTH  loc 1750,736  DistToNext 0.000000
    Speed 2, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move STBD_TURN   dir NORTH_EAST  loc 1750,736  DistToNext 0.000000
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move PORT_TURN   dir NORTH  loc 1750,736  DistToNext 60.000000
    Speed 2, FLAG 1
     time  0.00   tot  0.00
   [ 3]     qtv    move FORWARD   dir NORTH  loc 1750,796  DistToNext 0.000000
    Speed 2, FLAG 1
     time 54.00   tot 54.00
   [ 4]     qtv    move PORT_TURN   dir NORTH_WEST  loc 1750,796  DistToNext 60.811184
    Speed 2, FLAG 1
     time  0.00   tot 54.00
   [ 5]     qtv    move FORWARD   dir NORTH_WEST  loc 1707,839  DistToNext 0.000000
    Speed 2, FLAG 1
     time 54.73   tot 108.73
   [ 6]     qtv    move PORT_TURN   dir WEST  loc 1707,839  DistToNext 0.000000
    Speed 2, FLAG 1
     time  0.00   tot 108.73
   [ 7]     qtv    move PORT_TURN   dir SOUTH_WEST  loc 1707,839  DistToNext 156.977707
    Speed 0, FLAG 1
     time  0.00   tot 108.73
   [ 8]     qtv    move FORWARD   dir SOUTH_WEST  loc 1596,728  DistToNext 0.000000
    Speed 4, FLAG 1
     time 70.64   tot 179.37
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir NORTH  loc 1930,442  DistToNext 0.000000
    Speed 2, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move STBD_TURN   dir NORTH_EAST  loc 1930,442  DistToNext 0.000000
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move PORT_TURN   dir NORTH  loc 1930,442  DistToNext 60.000000
    Speed 2, FLAG 1
     time  0.00   tot  0.00
   [ 3]     qtv    move FORWARD   dir NORTH  loc 1930,502  DistToNext 0.000000
    Speed 2, FLAG 1
     time 54.00   tot 54.00
   [ 4]     qtv    move PORT_TURN   dir NORTH_WEST  loc 1930,502  DistToNext 60.811184
    Speed 2, FLAG 1
     time  0.00   tot 54.00
   [ 5]     qtv    move FORWARD   dir NORTH_WEST  loc 1887,545  DistToNext 0.000000
    Speed 2, FLAG 1
     time 54.73   tot 108.73
   [ 6]     qtv    move PORT_TURN   dir WEST  loc 1887,545  DistToNext 0.000000
    Speed 2, FLAG 1
     time  0.00   tot 108.73
   [ 7]     qtv    move PORT_TURN   dir SOUTH_WEST  loc 1887,545  DistToNext 120.208153
    Speed 0, FLAG 1
     time  0.00   tot 108.73
   [ 8]     qtv    move FORWARD   dir SOUTH_WEST  loc 1802,460  DistToNext 0.000000
    Speed 4, FLAG 1
     time 54.09   tot 162.82
   [ 9]     qtv    move STBD_TURN   dir WEST  loc 1802,460  DistToNext 18.000000
    Speed 0, FLAG 1
     time  0.00   tot 162.82
   [10]     qtv    move FORWARD   dir WEST  loc 1784,460  DistToNext 23.000000
    Speed 2, FLAG 1
     time 16.20   tot 179.02
   [11]     qtv    move FORWARD   dir WEST  loc 1761,460  DistToNext 0.000000
    Speed 2, FLAG 2
     time 20.70   tot 199.72
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir NORTH  loc 1599,-75  DistToNext 0.000000
    Speed 2, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move STBD_TURN   dir NORTH_EAST  loc 1599,-75  DistToNext 69.296463
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move FORWARD   dir NORTH_EAST  loc 1648,-26  DistToNext 0.000000
    Speed 3, FLAG 1
     time 41.58   tot 41.58
   [ 3]     qtv    move STBD_TURN   dir EAST  loc 1648,-26  DistToNext 70.000000
    Speed 0, FLAG 1
     time  0.00   tot 41.58
   [ 4]     qtv    move FORWARD   dir EAST  loc 1718,-26  DistToNext 0.000000
    Speed 5, FLAG 1
     time 25.20   tot 66.78
   [ 5]     qtv    move STBD_TURN   dir SOUTH_EAST  loc 1718,-26  DistToNext 138.592926
    Speed 0, FLAG 1
     time  0.00   tot 66.78
   [ 6]     qtv    move FORWARD   dir SOUTH_EAST  loc 1816,-124  DistToNext 0.000000
    Speed 4, FLAG 1
     time 62.37   tot 129.14
   [ 7]     qtv    move STBD_TURN   dir SOUTH  loc 1816,-124  DistToNext 138.000000
    Speed 0, FLAG 1
     time  0.00   tot 129.14
   [ 8]     qtv    move FORWARD   dir SOUTH  loc 1816,-262  DistToNext 0.000000
    Speed 5, FLAG 1
     time 49.68   tot 178.82
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir NORTH  loc 1628,-804  DistToNext 200.000000
    Speed 2, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir NORTH  loc 1628,-604  DistToNext 0.000000
    Speed 2, FLAG 1
     time 180.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir NORTH  loc 1418,-496  DistToNext 0.000000
    Speed 2, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move STBD_TURN   dir NORTH_EAST  loc 1418,-496  DistToNext 59.396969
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move FORWARD   dir NORTH_EAST  loc 1460,-454  DistToNext 0.000000
    Speed 4, FLAG 1
     time 26.73   tot 26.73
   [ 3]     qtv    move STBD_TURN   dir EAST  loc 1460,-454  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot 26.73
   [ 4]     qtv    move FORWARD   dir EAST  loc 1520,-454  DistToNext 0.000000
    Speed 6, FLAG 1
     time 18.00   tot 44.73
   [ 5]     qtv    move STBD_TURN   dir SOUTH_EAST  loc 1520,-454  DistToNext 59.396969
    Speed 0, FLAG 1
     time  0.00   tot 44.73
   [ 6]     qtv    move FORWARD   dir SOUTH_EAST  loc 1562,-496  DistToNext 0.000000
    Speed 5, FLAG 1
     time 21.38   tot 66.11
   [ 7]     qtv    move STBD_TURN   dir SOUTH  loc 1562,-496  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot 66.11
   [ 8]     qtv    move FORWARD   dir SOUTH  loc 1562,-556  DistToNext 0.000000
    Speed 6, FLAG 1
     time 18.00   tot 84.11
   [ 9]     qtv    move STBD_TURN   dir SOUTH_WEST  loc 1562,-556  DistToNext 59.396969
    Speed 0, FLAG 1
     time  0.00   tot 84.11
   [10]     qtv    move FORWARD   dir SOUTH_WEST  loc 1520,-598  DistToNext 0.000000
    Speed 4, FLAG 1
     time 26.73   tot 110.84
   [11]     qtv    move STBD_TURN   dir WEST  loc 1520,-598  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot 110.84
   [12]     qtv    move FORWARD   dir WEST  loc 1460,-598  DistToNext 0.000000
    Speed 2, FLAG 1
     time 54.00   tot 164.84
   [13]     qtv    move STBD_TURN   dir NORTH_WEST  loc 1460,-598  DistToNext 4.211061
    Speed 0, FLAG 1
     time  0.00   tot 164.84
   [14]     qtv    move FORWARD   dir NORTH_WEST  loc 1462,-600  DistToNext 4.211061
    Speed -1, FLAG 1
     time 15.16   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir NORTH  loc 1726,1180  DistToNext 200.000000
    Speed 2, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir NORTH  loc 1726,1380  DistToNext 0.000000
    Speed 2, FLAG 1
     time 180.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir SOUTH_WEST  loc 1542,47  DistToNext 0.000000
    Speed 4, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move STBD_TURN   dir WEST  loc 1542,47  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move FORWARD   dir WEST  loc 1482,47  DistToNext 0.000000
    Speed 2, FLAG 1
     time 54.00   tot 54.00
   [ 3]     qtv    move PORT_TURN   dir SOUTH_WEST  loc 1482,47  DistToNext 59.396969
    Speed 0, FLAG 1
     time  0.00   tot 54.00
   [ 4]     qtv    move FORWARD   dir SOUTH_WEST  loc 1440,5  DistToNext 0.000000
    Speed 4, FLAG 1
     time 26.73   tot 80.73
   [ 5]     qtv    move PORT_TURN   dir SOUTH  loc 1440,5  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot 80.73
   [ 6]     qtv    move FORWARD   dir SOUTH  loc 1440,-55  DistToNext 0.000000
    Speed 6, FLAG 1
     time 18.00   tot 98.73
   [ 7]     qtv    move PORT_TURN   dir SOUTH_EAST  loc 1440,-55  DistToNext 59.396969
    Speed 0, FLAG 1
     time  0.00   tot 98.73
   [ 8]     qtv    move FORWARD   dir SOUTH_EAST  loc 1482,-97  DistToNext 0.000000
    Speed 5, FLAG 1
     time 21.38   tot 120.11
   [ 9]     qtv    move PORT_TURN   dir EAST  loc 1482,-97  DistToNext 199.000000
    Speed 0, FLAG 1
     time  0.00   tot 120.11
   [10]     qtv    move FORWARD   dir EAST  loc 1681,-97  DistToNext 0.000000
    Speed 6, FLAG 1
     time 59.70   tot 179.81
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir NORTH  loc 1500,-304  DistToNext 200.000000
    Speed 2, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move BACK_SAIL   dir NORTH  loc 1500,-104  DistToNext 0.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move FORWARD   dir NORTH  loc 1500,-104  DistToNext 0.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 3]     qtv    move NO_DIRECTION   dir NORTH  loc 1500,-104  DistToNext 0.000000
    Speed 0, FLAG 1
     time  0.00   tot  0.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir NORTH_EAST  loc 1446,-14  DistToNext 0.000000
    Speed 3, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move STBD_TURN   dir EAST  loc 1446,-14  DistToNext 70.000000
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move FORWARD   dir EAST  loc 1516,-14  DistToNext 0.000000
    Speed 4, FLAG 1
     time 31.50   tot 31.50
   [ 3]     qtv    move STBD_TURN   dir SOUTH_EAST  loc 1516,-14  DistToNext 329.511749
    Speed 0, FLAG 1
     time  0.00   tot 31.50
   [ 4]     qtv    move FORWARD   dir SOUTH_EAST  loc 1749,-247  DistToNext 0.000000
    Speed 4, FLAG 1
     time 148.28   tot 179.78
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir NORTH_WEST  loc 1068,164  DistToNext 50.000000
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir NORTH_WEST  loc 1103,129  DistToNext 0.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
   [ 2]     qtv    move STBD_TURN   dir NORTH  loc 1103,129  DistToNext 50.000000
    Speed 0, FLAG 1
     time  0.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir NORTH_WEST  loc 1130,256  DistToNext 50.000000
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir NORTH_WEST  loc 1165,221  DistToNext 50.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move NO_DIRECTION   dir EAST  loc 1534,144  DistToNext 60.000000
    Speed 5, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir EAST  loc 1594,144  DistToNext 0.000000
    Speed 5, FLAG 1
     time 21.60   tot 21.60
   [ 2]     qtv    move STBD_TURN   dir SOUTH_EAST  loc 1594,144  DistToNext 59.396969
    Speed 0, FLAG 1
     time  0.00   tot 21.60
   [ 3]     qtv    move FORWARD   dir SOUTH_EAST  loc 1636,102  DistToNext 0.000000
    Speed 4, FLAG 1
     time 26.73   tot 48.33
   [ 4]     qtv    move STBD_TURN   dir SOUTH  loc 1636,102  DistToNext 120.000000
    Speed 0, FLAG 1
     time  0.00   tot 48.33
   [ 5]     qtv    move FORWARD   dir SOUTH  loc 1636,-18  DistToNext 0.000000
    Speed 5, FLAG 1
     time 43.20   tot 91.53
   [ 6]     qtv    move STBD_TURN   dir SOUTH_WEST  loc 1636,-18  DistToNext 60.811184
    Speed 0, FLAG 1
     time  0.00   tot 91.53
   [ 7]     qtv    move FORWARD   dir SOUTH_WEST  loc 1593,-61  DistToNext 0.000000
    Speed 3, FLAG 1
     time 36.49   tot 128.01
   [ 8]     qtv    move STBD_TURN   dir WEST  loc 1593,-61  DistToNext 60.000000
    Speed 3, FLAG 1
     time  0.00   tot 128.01
   [ 9]     qtv    move FORWARD   dir WEST  loc 1533,-61  DistToNext 0.000000
    Speed 1, FLAG 1
     time 108.00   tot 236.01
   [10]     qtv    move STBD_TURN   dir NORTH_WEST  loc 1533,-61  DistToNext 0.000000
    Speed 1, FLAG 1
     time  0.00   tot 236.01
   [11]     qtv    move STBD_TURN   dir NORTH  loc 1533,-61  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot 236.01
   [12]     qtv    move FORWARD   dir NORTH  loc 1533,-1  DistToNext 0.000000
    Speed 1, FLAG 1
     time 108.00   tot 344.01
   [13]     qtv    move STBD_TURN   dir NORTH_EAST  loc 1533,-1  DistToNext 118.793938
    Speed 1, FLAG 1
     time  0.00   tot 344.01
   [14]     qtv    move FORWARD   dir NORTH_EAST  loc 1617,83  DistToNext 0.000000
    Speed 3, FLAG 1
     time 71.28   tot 415.29
   [15]     qtv    move PORT_TURN   dir NORTH  loc 1617,83  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot 415.29
   [16]     qtv    move FORWARD   dir NORTH  loc 1617,143  DistToNext 0.000000
    Speed 1, FLAG 1
     time 108.00   tot 523.29
   [17]     qtv    move PORT_TURN   dir NORTH_WEST  loc 1617,143  DistToNext 60.811184
    Speed 1, FLAG 1
     time  0.00   tot 523.29
   [18]     qtv    move FORWARD   dir NORTH_WEST  loc 1574,186  DistToNext 0.000000
    Speed 1, FLAG 1
     time 109.46   tot 632.75
   [19]     qtv    move PORT_TURN   dir WEST  loc 1574,186  DistToNext 0.000000
    Speed 1, FLAG 1
     time  0.00   tot 632.75
   [20]     qtv    move PORT_TURN   dir SOUTH_WEST  loc 1574,186  DistToNext 60.811184
    Speed 0, FLAG 1
     time  0.00   tot 632.75
   [21]     qtv    move FORWARD   dir SOUTH_WEST  loc 1531,143  DistToNext 0.000000
    Speed 3, FLAG 1
     time 36.49   tot 669.23
   [22]     qtv    move STBD_TURN   dir WEST  loc 1531,143  DistToNext 9.000000
    Speed 3, FLAG 1
     time  0.00   tot 669.23
   [23]     qtv    move FORWARD   dir WEST  loc 1522,143  DistToNext 41.000000
    Speed 1, FLAG 1
     time 16.20   tot 685.43
   [24]     qtv    move FORWARD   dir WEST  loc 1481,143  DistToNext 0.000000
    Speed 1, FLAG 2
     time 73.80   tot 759.23
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir EAST  loc 1015,327  DistToNext 0.000000
    Speed 5, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move PORT_TURN   dir NORTH_EAST  loc 1015,327  DistToNext 118.793938
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move FORWARD   dir NORTH_EAST  loc 1099,411  DistToNext 0.000000
    Speed 3, FLAG 1
     time 71.28   tot 71.28
   [ 3]     qtv    move PORT_TURN   dir NORTH  loc 1099,411  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot 71.28
   [ 4]     qtv    move FORWARD   dir NORTH  loc 1099,471  DistToNext 0.000000
    Speed 1, FLAG 1
     time 108.00   tot 179.27
   [ 5]     qtv    move PORT_TURN   dir NORTH_WEST  loc 1099,471  DistToNext 60.811184
    Speed 1, FLAG 1
     time  0.00   tot 179.27
   [ 6]     qtv    move FORWARD   dir NORTH_WEST  loc 1056,514  DistToNext 0.000000
    Speed 1, FLAG 1
     time 109.46   tot 288.73
   [ 7]     qtv    move PORT_TURN   dir WEST  loc 1056,514  DistToNext 0.000000
    Speed 1, FLAG 1
     time  0.00   tot 288.73
   [ 8]     qtv    move PORT_TURN   dir SOUTH_WEST  loc 1056,514  DistToNext 60.811184
    Speed 0, FLAG 1
     time  0.00   tot 288.73
   [ 9]     qtv    move FORWARD   dir SOUTH_WEST  loc 1013,471  DistToNext 0.000000
    Speed 3, FLAG 1
     time 36.49   tot 325.22
   [10]     qtv    move STBD_TURN   dir WEST  loc 1013,471  DistToNext 60.000000
    Speed 3, FLAG 1
     time  0.00   tot 325.22
   [11]     qtv    move FORWARD   dir WEST  loc 953,471  DistToNext 0.000000
    Speed 1, FLAG 1
     time 108.00   tot 433.22
  End Path <===
* ==> Start Path
   [ 0]     qtv    move NO_DIRECTION   dir EAST  loc 1064,300  DistToNext 70.000000
    Speed 4, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir EAST  loc 1134,300  DistToNext 0.000000
    Speed 4, FLAG 1
     time 31.50   tot 31.50
   [ 2]     qtv    move PORT_TURN   dir NORTH_EAST  loc 1134,300  DistToNext 138.592926
    Speed 0, FLAG 1
     time  0.00   tot 31.50
   [ 3]     qtv    move FORWARD   dir NORTH_EAST  loc 1232,398  DistToNext 0.000000
    Speed 2, FLAG 1
     time 124.73   tot 156.23
   [ 4]     qtv    move PORT_TURN   dir NORTH  loc 1232,398  DistToNext 70.000000
    Speed 0, FLAG 1
     time  0.00   tot 156.23
   [ 5]     qtv    move FORWARD   dir NORTH  loc 1232,468  DistToNext 0.000000
    Speed 1, FLAG 1
     time 126.00   tot 282.23
   [ 6]     qtv    move PORT_TURN   dir NORTH_WEST  loc 1232,468  DistToNext 70.710678
    Speed 1, FLAG 1
     time  0.00   tot 282.23
   [ 7]     qtv    move FORWARD   dir NORTH_WEST  loc 1182,518  DistToNext 0.000000
    Speed 1, FLAG 1
     time 127.28   tot 409.51
   [ 8]     qtv    move PORT_TURN   dir WEST  loc 1182,518  DistToNext 0.000000
    Speed 1, FLAG 1
     time  0.00   tot 409.51
   [ 9]     qtv    move PORT_TURN   dir SOUTH_WEST  loc 1182,518  DistToNext 70.710678
    Speed 0, FLAG 1
     time  0.00   tot 409.51
   [10]     qtv    move FORWARD   dir SOUTH_WEST  loc 1132,468  DistToNext 0.000000
    Speed 2, FLAG 1
     time 63.64   tot 473.15
   [11]     qtv    move STBD_TURN   dir WEST  loc 1132,468  DistToNext 12.000000
    Speed 2, FLAG 1
     time  0.00   tot 473.15
   [12]     qtv    move FORWARD   dir WEST  loc 1120,468  DistToNext 45.000000
    Speed 1, FLAG 1
     time 21.60   tot 494.75
   [13]     qtv    move FORWARD   dir WEST  loc 1075,468  DistToNext 0.000000
    Speed 1, FLAG 2
     time 81.00   tot 575.75
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir EAST  loc 1082,356  DistToNext 0.000000
    Speed 6, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move PORT_TURN   dir NORTH_EAST  loc 1082,356  DistToNext 118.793938
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move FORWARD   dir NORTH_EAST  loc 1166,440  DistToNext 0.000000
    Speed 4, FLAG 1
     time 53.46   tot 53.46
   [ 3]     qtv    move PORT_TURN   dir NORTH  loc 1166,440  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot 53.46
   [ 4]     qtv    move FORWARD   dir NORTH  loc 1166,500  DistToNext 0.000000
    Speed 2, FLAG 1
     time 54.00   tot 107.46
   [ 5]     qtv    move PORT_TURN   dir NORTH_WEST  loc 1166,500  DistToNext 60.811184
    Speed 2, FLAG 1
     time  0.00   tot 107.46
   [ 6]     qtv    move FORWARD   dir NORTH_WEST  loc 1123,543  DistToNext 0.000000
    Speed 2, FLAG 1
     time 54.73   tot 162.19
   [ 7]     qtv    move PORT_TURN   dir WEST  loc 1123,543  DistToNext 0.000000
    Speed 2, FLAG 1
     time  0.00   tot 162.19
   [ 8]     qtv    move PORT_TURN   dir SOUTH_WEST  loc 1123,543  DistToNext 60.811184
    Speed 0, FLAG 1
     time  0.00   tot 162.19
   [ 9]     qtv    move FORWARD   dir SOUTH_WEST  loc 1080,500  DistToNext 0.000000
    Speed 4, FLAG 1
     time 27.36   tot 189.55
   [10]     qtv    move STBD_TURN   dir WEST  loc 1080,500  DistToNext 120.000000
    Speed 4, FLAG 1
     time  0.00   tot 189.55
   [11]     qtv    move FORWARD   dir WEST  loc 960,500  DistToNext 0.000000
    Speed 2, FLAG 1
     time 108.00   tot 297.55
   [12]     qtv    move STBD_TURN   dir NORTH_WEST  loc 960,500  DistToNext 60.811184
    Speed 0, FLAG 1
     time  0.00   tot 297.55
   [13]     qtv    move FORWARD   dir NORTH_WEST  loc 917,543  DistToNext 0.000000
    Speed 0, FLAG 1
     time   inf   tot   inf
   [14]     qtv    move STBD_TURN   dir NORTH  loc 917,543  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot   inf
   [15]     qtv    move FORWARD   dir NORTH  loc 917,603  DistToNext 0.000000
    Speed 2, FLAG 1
     time 54.00   tot   inf
   [16]     qtv    move STBD_TURN   dir NORTH_EAST  loc 917,603  DistToNext 0.000000
    Speed 2, FLAG 1
     time  0.00   tot   inf
   [17]     qtv    move STBD_TURN   dir EAST  loc 917,603  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot   inf
   [18]     qtv    move FORWARD   dir EAST  loc 977,603  DistToNext 0.000000
    Speed 6, FLAG 1
     time 18.00   tot   inf
   [19]     qtv    move STBD_TURN   dir SOUTH_EAST  loc 977,603  DistToNext 49.497475
    Speed 6, FLAG 1
     time  0.00   tot   inf
   [20]     qtv    move FORWARD   dir SOUTH_EAST  loc 1012,568  DistToNext 39.597980
    Speed 5, FLAG 1
     time 17.82   tot   inf
   [21]     qtv    move FORWARD   dir SOUTH_EAST  loc 984,596  DistToNext 0.000000
    Speed 5, FLAG 2
     time 14.26   tot   inf
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir EAST  loc 914,446  DistToNext 0.000000
    Speed 6, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move PORT_TURN   dir NORTH_EAST  loc 914,446  DistToNext 118.793938
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move FORWARD   dir NORTH_EAST  loc 998,530  DistToNext 0.000000
    Speed 4, FLAG 1
     time 53.46   tot 53.46
   [ 3]     qtv    move PORT_TURN   dir NORTH  loc 998,530  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot 53.46
   [ 4]     qtv    move FORWARD   dir NORTH  loc 998,590  DistToNext 0.000000
    Speed 2, FLAG 1
     time 54.00   tot 107.46
   [ 5]     qtv    move PORT_TURN   dir NORTH_WEST  loc 998,590  DistToNext 60.811184
    Speed 2, FLAG 1
     time  0.00   tot 107.46
   [ 6]     qtv    move FORWARD   dir NORTH_WEST  loc 955,633  DistToNext 0.000000
    Speed 2, FLAG 1
     time 54.73   tot 162.19
   [ 7]     qtv    move PORT_TURN   dir WEST  loc 955,633  DistToNext 0.000000
    Speed 2, FLAG 1
     time  0.00   tot 162.19
   [ 8]     qtv    move PORT_TURN   dir SOUTH_WEST  loc 955,633  DistToNext 60.811184
    Speed 0, FLAG 1
     time  0.00   tot 162.19
   [ 9]     qtv    move FORWARD   dir SOUTH_WEST  loc 912,590  DistToNext 0.000000
    Speed 4, FLAG 1
     time 27.36   tot 189.55
   [10]     qtv    move STBD_TURN   dir WEST  loc 912,590  DistToNext 120.000000
    Speed 4, FLAG 1
     time  0.00   tot 189.55
   [11]     qtv    move FORWARD   dir WEST  loc 792,590  DistToNext 0.000000
    Speed 2, FLAG 1
     time 108.00   tot 297.55
   [12]     qtv    move STBD_TURN   dir NORTH_WEST  loc 792,590  DistToNext 60.811184
    Speed 0, FLAG 1
     time  0.00   tot 297.55
   [13]     qtv    move FORWARD   dir NORTH_WEST  loc 749,633  DistToNext 0.000000
    Speed 0, FLAG 1
     time   inf   tot   inf
   [14]     qtv    move STBD_TURN   dir NORTH  loc 749,633  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot   inf
   [15]     qtv    move FORWARD   dir NORTH  loc 749,693  DistToNext 0.000000
    Speed 2, FLAG 1
     time 54.00   tot   inf
   [16]     qtv    move STBD_TURN   dir NORTH_EAST  loc 749,693  DistToNext 0.000000
    Speed 2, FLAG 1
     time  0.00   tot   inf
   [17]     qtv    move STBD_TURN   dir EAST  loc 749,693  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot   inf
   [18]     qtv    move FORWARD   dir EAST  loc 809,693  DistToNext 0.000000
    Speed 6, FLAG 1
     time 18.00   tot   inf
   [19]     qtv    move STBD_TURN   dir SOUTH_EAST  loc 809,693  DistToNext 49.497475
    Speed 6, FLAG 1
     time  0.00   tot   inf
   [20]     qtv    move FORWARD   dir SOUTH_EAST  loc 844,658  DistToNext 39.597980
    Speed 5, FLAG 1
     time 17.82   tot   inf
   [21]     qtv    move FORWARD   dir SOUTH_EAST  loc 816,686  DistToNext 0.000000
    Speed 5, FLAG 2
     time 14.26   tot   inf
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir EAST  loc 732,548  DistToNext 0.000000
    Speed 6, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move PORT_TURN   dir NORTH_EAST  loc 732,548  DistToNext 118.793938
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move FORWARD   dir NORTH_EAST  loc 816,632  DistToNext 0.000000
    Speed 4, FLAG 1
     time 53.46   tot 53.46
   [ 3]     qtv    move PORT_TURN   dir NORTH  loc 816,632  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot 53.46
   [ 4]     qtv    move FORWARD   dir NORTH  loc 816,692  DistToNext 0.000000
    Speed 2, FLAG 1
     time 54.00   tot 107.46
   [ 5]     qtv    move PORT_TURN   dir NORTH_WEST  loc 816,692  DistToNext 60.811184
    Speed 2, FLAG 1
     time  0.00   tot 107.46
   [ 6]     qtv    move FORWARD   dir NORTH_WEST  loc 773,735  DistToNext 0.000000
    Speed 2, FLAG 1
     time 54.73   tot 162.19
   [ 7]     qtv    move PORT_TURN   dir WEST  loc 773,735  DistToNext 0.000000
    Speed 2, FLAG 1
     time  0.00   tot 162.19
   [ 8]     qtv    move PORT_TURN   dir SOUTH_WEST  loc 773,735  DistToNext 60.811184
    Speed 0, FLAG 1
     time  0.00   tot 162.19
   [ 9]     qtv    move FORWARD   dir SOUTH_WEST  loc 730,692  DistToNext 0.000000
    Speed 4, FLAG 1
     time 27.36   tot 189.55
   [10]     qtv    move STBD_TURN   dir WEST  loc 730,692  DistToNext 120.000000
    Speed 4, FLAG 1
     time  0.00   tot 189.55
   [11]     qtv    move FORWARD   dir WEST  loc 610,692  DistToNext 0.000000
    Speed 2, FLAG 1
     time 108.00   tot 297.55
   [12]     qtv    move STBD_TURN   dir NORTH_WEST  loc 610,692  DistToNext 60.811184
    Speed 0, FLAG 1
     time  0.00   tot 297.55
   [13]     qtv    move FORWARD   dir NORTH_WEST  loc 567,735  DistToNext 0.000000
    Speed 0, FLAG 1
     time   inf   tot   inf
   [14]     qtv    move STBD_TURN   dir NORTH  loc 567,735  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot   inf
   [15]     qtv    move FORWARD   dir NORTH  loc 567,795  DistToNext 0.000000
    Speed 2, FLAG 1
     time 54.00   tot   inf
   [16]     qtv    move STBD_TURN   dir NORTH_EAST  loc 567,795  DistToNext 0.000000
    Speed 2, FLAG 1
     time  0.00   tot   inf
   [17]     qtv    move STBD_TURN   dir EAST  loc 567,795  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot   inf
   [18]     qtv    move FORWARD   dir EAST  loc 627,795  DistToNext 0.000000
    Speed 6, FLAG 1
     time 18.00   tot   inf
   [19]     qtv    move STBD_TURN   dir SOUTH_EAST  loc 627,795  DistToNext 49.497475
    Speed 6, FLAG 1
     time  0.00   tot   inf
   [20]     qtv    move FORWARD   dir SOUTH_EAST  loc 662,760  DistToNext 39.597980
    Speed 5, FLAG 1
     time 17.82   tot   inf
   [21]     qtv    move FORWARD   dir SOUTH_EAST  loc 634,788  DistToNext 0.000000
    Speed 5, FLAG 2
     time 14.26   tot   inf
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir EAST  loc 538,632  DistToNext 0.000000
    Speed 6, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move STBD_TURN   dir SOUTH_EAST  loc 538,632  DistToNext 499.217377
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move FORWARD   dir SOUTH_EAST  loc 891,279  DistToNext 0.000000
    Speed 5, FLAG 1
     time 179.72   tot 179.72
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir EAST  loc 542,958  DistToNext 0.000000
    Speed 5, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move PORT_TURN   dir NORTH_EAST  loc 542,958  DistToNext 398.808228
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move FORWARD   dir NORTH_EAST  loc 824,1240  DistToNext 0.000000
    Speed 4, FLAG 1
     time 179.46   tot 179.46
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir SOUTH_WEST  loc 1330,1826  DistToNext 398.808228
    Speed 4, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir SOUTH_WEST  loc 1048,1544  DistToNext 0.000000
    Speed 4, FLAG 1
     time 179.46   tot 179.46
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir SOUTH_WEST  loc 1444,1478  DistToNext 398.808228
    Speed 4, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir SOUTH_WEST  loc 1162,1196  DistToNext 0.000000
    Speed 4, FLAG 1
     time 179.46   tot 179.46
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir WEST  loc 1704,930  DistToNext 0.000000
    Speed 2, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move PORT_TURN   dir SOUTH_WEST  loc 1704,930  DistToNext 59.396969
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move FORWARD   dir SOUTH_WEST  loc 1662,888  DistToNext 0.000000
    Speed 3, FLAG 1
     time 35.64   tot 35.64
   [ 3]     qtv    move PORT_TURN   dir SOUTH  loc 1662,888  DistToNext 400.000000
    Speed 0, FLAG 1
     time  0.00   tot 35.64
   [ 4]     qtv    move FORWARD   dir SOUTH  loc 1662,488  DistToNext 0.000000
    Speed 5, FLAG 1
     time 144.00   tot 179.64
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir SOUTH_WEST  loc 2216,824  DistToNext 299.813263
    Speed 3, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir SOUTH_WEST  loc 2004,612  DistToNext 0.000000
    Speed 3, FLAG 1
     time 179.89   tot 179.89
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir SOUTH_WEST  loc 1596,728  DistToNext 0.000000
    Speed 4, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move STBD_TURN   dir WEST  loc 1596,728  DistToNext 120.000000
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move FORWARD   dir WEST  loc 1476,728  DistToNext 0.000000
    Speed 2, FLAG 1
     time 108.00   tot 108.00
   [ 3]     qtv    move STBD_TURN   dir NORTH_WEST  loc 1476,728  DistToNext 60.811184
    Speed 0, FLAG 1
     time  0.00   tot 108.00
   [ 4]     qtv    move FORWARD   dir NORTH_WEST  loc 1433,771  DistToNext 0.000000
    Speed 0, FLAG 1
     time   inf   tot   inf
   [ 5]     qtv    move STBD_TURN   dir NORTH  loc 1433,771  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot   inf
   [ 6]     qtv    move FORWARD   dir NORTH  loc 1433,831  DistToNext 0.000000
    Speed 2, FLAG 1
     time 54.00   tot   inf
   [ 7]     qtv    move STBD_TURN   dir NORTH_EAST  loc 1433,831  DistToNext 0.000000
    Speed 2, FLAG 1
     time  0.00   tot   inf
   [ 8]     qtv    move STBD_TURN   dir EAST  loc 1433,831  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot   inf
   [ 9]     qtv    move FORWARD   dir EAST  loc 1493,831  DistToNext 0.000000
    Speed 6, FLAG 1
     time 18.00   tot   inf
   [10]     qtv    move STBD_TURN   dir SOUTH_EAST  loc 1493,831  DistToNext 118.793938
    Speed 6, FLAG 1
     time  0.00   tot   inf
   [11]     qtv    move FORWARD   dir SOUTH_EAST  loc 1577,747  DistToNext 0.000000
    Speed 5, FLAG 1
     time 42.77   tot   inf
   [12]     qtv    move STBD_TURN   dir SOUTH  loc 1577,747  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot   inf
   [13]     qtv    move FORWARD   dir SOUTH  loc 1577,687  DistToNext 0.000000
    Speed 6, FLAG 1
     time 18.00   tot   inf
   [14]     qtv    move STBD_TURN   dir SOUTH_WEST  loc 1577,687  DistToNext 60.811184
    Speed 6, FLAG 1
     time  0.00   tot   inf
   [15]     qtv    move FORWARD   dir SOUTH_WEST  loc 1534,644  DistToNext 0.000000
    Speed 4, FLAG 1
     time 27.36   tot   inf
   [16]     qtv    move STBD_TURN   dir WEST  loc 1534,644  DistToNext 0.000000
    Speed 4, FLAG 1
     time  0.00   tot   inf
   [17]     qtv    move STBD_TURN   dir NORTH_WEST  loc 1534,644  DistToNext 60.811184
    Speed 0, FLAG 1
     time  0.00   tot   inf
   [18]     qtv    move FORWARD   dir NORTH_WEST  loc 1491,687  DistToNext 0.000000
    Speed 4, FLAG 1
     time 27.36   tot   inf
   [19]     qtv    move STBD_TURN   dir NORTH  loc 1491,687  DistToNext 32.000000
    Speed 4, FLAG 1
     time  0.00   tot   inf
   [20]     qtv    move FORWARD   dir NORTH  loc 1491,719  DistToNext 5.000000
    Speed 2, FLAG 1
     time 28.80   tot   inf
   [21]     qtv    move FORWARD   dir NORTH  loc 1491,714  DistToNext 0.000000
    Speed 2, FLAG 2
     time  4.50   tot   inf
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir WEST  loc 1784,460  DistToNext 120.000000
    Speed 2, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir WEST  loc 1664,460  DistToNext 0.000000
    Speed 2, FLAG 1
     time 108.00   tot 108.00
   [ 2]     qtv    move PORT_TURN   dir SOUTH_WEST  loc 1664,460  DistToNext 118.793938
    Speed 0, FLAG 1
     time  0.00   tot 108.00
   [ 3]     qtv    move FORWARD   dir SOUTH_WEST  loc 1580,376  DistToNext 0.000000
    Speed 4, FLAG 1
     time 53.46   tot 161.46
   [ 4]     qtv    move PORT_TURN   dir SOUTH  loc 1580,376  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot 161.46
   [ 5]     qtv    move FORWARD   dir SOUTH  loc 1580,316  DistToNext 0.000000
    Speed 6, FLAG 1
     time 18.00   tot 179.46
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir SOUTH  loc 1816,-262  DistToNext 0.000000
    Speed 5, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move STBD_TURN   dir SOUTH_WEST  loc 1816,-262  DistToNext 69.296463
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move FORWARD   dir SOUTH_WEST  loc 1767,-311  DistToNext 0.000000
    Speed 3, FLAG 1
     time 41.58   tot 41.58
   [ 3]     qtv    move STBD_TURN   dir WEST  loc 1767,-311  DistToNext 153.000000
    Speed 0, FLAG 1
     time  0.00   tot 41.58
   [ 4]     qtv    move FORWARD   dir WEST  loc 1614,-311  DistToNext 0.000000
    Speed 2, FLAG 1
     time 137.70   tot 179.28
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir NORTH  loc 1628,-604  DistToNext 0.000000
    Speed 2, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move STBD_TURN   dir NORTH_EAST  loc 1628,-604  DistToNext 59.396969
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move FORWARD   dir NORTH_EAST  loc 1670,-562  DistToNext 0.000000
    Speed 3, FLAG 1
     time 35.64   tot 35.64
   [ 3]     qtv    move STBD_TURN   dir EAST  loc 1670,-562  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot 35.64
   [ 4]     qtv    move FORWARD   dir EAST  loc 1730,-562  DistToNext 0.000000
    Speed 5, FLAG 1
     time 21.60   tot 57.24
   [ 5]     qtv    move STBD_TURN   dir SOUTH_EAST  loc 1730,-562  DistToNext 59.396969
    Speed 0, FLAG 1
     time  0.00   tot 57.24
   [ 6]     qtv    move FORWARD   dir SOUTH_EAST  loc 1772,-604  DistToNext 0.000000
    Speed 4, FLAG 1
     time 26.73   tot 83.97
   [ 7]     qtv    move STBD_TURN   dir SOUTH  loc 1772,-604  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot 83.97
   [ 8]     qtv    move FORWARD   dir SOUTH  loc 1772,-664  DistToNext 0.000000
    Speed 5, FLAG 1
     time 21.60   tot 105.57
   [ 9]     qtv    move STBD_TURN   dir SOUTH_WEST  loc 1772,-664  DistToNext 59.396969
    Speed 0, FLAG 1
     time  0.00   tot 105.57
   [10]     qtv    move FORWARD   dir SOUTH_WEST  loc 1730,-706  DistToNext 0.000000
    Speed 3, FLAG 1
     time 35.64   tot 141.20
   [11]     qtv    move STBD_TURN   dir WEST  loc 1730,-706  DistToNext 42.000000
    Speed 0, FLAG 1
     time  0.00   tot 141.20
   [12]     qtv    move FORWARD   dir WEST  loc 1688,-706  DistToNext 25.000000
    Speed 2, FLAG 1
     time 37.80   tot 179.00
   [13]     qtv    move FORWARD   dir WEST  loc 1713,-706  DistToNext 0.000000
    Speed 2, FLAG 2
     time 22.50   tot 201.50
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir NORTH_WEST  loc 1462,-600  DistToNext 50.000000
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir NORTH_WEST  loc 1497,-635  DistToNext 50.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir NORTH  loc 1726,1380  DistToNext 0.000000
    Speed 2, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move STBD_TURN   dir NORTH_EAST  loc 1726,1380  DistToNext 0.000000
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move PORT_TURN   dir NORTH  loc 1726,1380  DistToNext 60.000000
    Speed 2, FLAG 1
     time  0.00   tot  0.00
   [ 3]     qtv    move FORWARD   dir NORTH  loc 1726,1440  DistToNext 0.000000
    Speed 2, FLAG 1
     time 54.00   tot 54.00
   [ 4]     qtv    move PORT_TURN   dir NORTH_WEST  loc 1726,1440  DistToNext 60.811184
    Speed 2, FLAG 1
     time  0.00   tot 54.00
   [ 5]     qtv    move FORWARD   dir NORTH_WEST  loc 1683,1483  DistToNext 0.000000
    Speed 2, FLAG 1
     time 54.73   tot 108.73
   [ 6]     qtv    move PORT_TURN   dir WEST  loc 1683,1483  DistToNext 0.000000
    Speed 2, FLAG 1
     time  0.00   tot 108.73
   [ 7]     qtv    move PORT_TURN   dir SOUTH_WEST  loc 1683,1483  DistToNext 156.977707
    Speed 0, FLAG 1
     time  0.00   tot 108.73
   [ 8]     qtv    move FORWARD   dir SOUTH_WEST  loc 1572,1372  DistToNext 0.000000
    Speed 4, FLAG 1
     time 70.64   tot 179.37
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir WEST  loc 1409,99  DistToNext 0.000000
    Speed 2, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move PORT_TURN   dir SOUTH_WEST  loc 1409,99  DistToNext 59.396969
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move FORWARD   dir SOUTH_WEST  loc 1367,57  DistToNext 0.000000
    Speed 4, FLAG 1
     time 26.73   tot 26.73
   [ 3]     qtv    move PORT_TURN   dir SOUTH  loc 1367,57  DistToNext 510.000000
    Speed 0, FLAG 1
     time  0.00   tot 26.73
   [ 4]     qtv    move FORWARD   dir SOUTH  loc 1367,-453  DistToNext 0.000000
    Speed 6, FLAG 1
     time 153.00   tot 179.73
  End Path <===
* ==> Start Path
   [ 0]     qtv    move NO_DIRECTION   dir NORTH  loc 1500,-104  DistToNext 60.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir NORTH  loc 1500,-44  DistToNext 0.000000
    Speed 1, FLAG 1
     time 108.00   tot 108.00
   [ 2]     qtv    move STBD_TURN   dir NORTH_EAST  loc 1500,-44  DistToNext 59.396969
    Speed 0, FLAG 1
     time  0.00   tot 108.00
   [ 3]     qtv    move FORWARD   dir NORTH_EAST  loc 1542,-2  DistToNext 0.000000
    Speed 3, FLAG 1
     time 35.64   tot 143.64
   [ 4]     qtv    move STBD_TURN   dir EAST  loc 1542,-2  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot 143.64
   [ 5]     qtv    move FORWARD   dir EAST  loc 1602,-2  DistToNext 0.000000
    Speed 5, FLAG 1
     time 21.60   tot 165.24
   [ 6]     qtv    move STBD_TURN   dir SOUTH_EAST  loc 1602,-2  DistToNext 31.112698
    Speed 0, FLAG 1
     time  0.00   tot 165.24
   [ 7]     qtv    move FORWARD   dir SOUTH_EAST  loc 1624,-24  DistToNext 4.242640
    Speed 4, FLAG 1
     time 14.00   tot 179.24
   [ 8]     qtv    move FORWARD   dir SOUTH_EAST  loc 1621,-21  DistToNext 0.000000
    Speed 4, FLAG 2
     time  1.91   tot 181.15
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir SOUTH_EAST  loc 1749,-247  DistToNext 0.000000
    Speed 3, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move STBD_TURN   dir SOUTH  loc 1749,-247  DistToNext 70.000000
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move FORWARD   dir SOUTH  loc 1749,-317  DistToNext 0.000000
    Speed 4, FLAG 1
     time 31.50   tot 31.50
   [ 3]     qtv    move STBD_TURN   dir SOUTH_WEST  loc 1749,-317  DistToNext 247.487381
    Speed 0, FLAG 1
     time  0.00   tot 31.50
   [ 4]     qtv    move FORWARD   dir SOUTH_WEST  loc 1574,-492  DistToNext 0.000000
    Speed 3, FLAG 1
     time 148.49   tot 179.99
  End Path <===
* ==> Start Path
   [ 0]     qtv    move STBD_TURN   dir NORTH  loc 1103,129  DistToNext 70.000000
    Speed 2, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir NORTH  loc 1103,199  DistToNext 0.000000
    Speed 2, FLAG 1
     time 63.00   tot 63.00
   [ 2]     qtv    move STBD_TURN   dir NORTH_EAST  loc 1103,199  DistToNext 69.296463
    Speed 0, FLAG 1
     time  0.00   tot 63.00
   [ 3]     qtv    move FORWARD   dir NORTH_EAST  loc 1152,248  DistToNext 0.000000
    Speed 4, FLAG 1
     time 31.18   tot 94.18
   [ 4]     qtv    move STBD_TURN   dir EAST  loc 1152,248  DistToNext 70.000000
    Speed 0, FLAG 1
     time  0.00   tot 94.18
   [ 5]     qtv    move FORWARD   dir EAST  loc 1222,248  DistToNext 0.000000
    Speed 6, FLAG 1
     time 21.00   tot 115.18
   [ 6]     qtv    move STBD_TURN   dir SOUTH_EAST  loc 1222,248  DistToNext 69.296463
    Speed 0, FLAG 1
     time  0.00   tot 115.18
   [ 7]     qtv    move FORWARD   dir SOUTH_EAST  loc 1271,199  DistToNext 0.000000
    Speed 5, FLAG 1
     time 24.95   tot 140.13
   [ 8]     qtv    move STBD_TURN   dir SOUTH  loc 1271,199  DistToNext 70.000000
    Speed 0, FLAG 1
     time  0.00   tot 140.13
   [ 9]     qtv    move FORWARD   dir SOUTH  loc 1271,129  DistToNext 0.000000
    Speed 6, FLAG 1
     time 21.00   tot 161.13
   [10]     qtv    move STBD_TURN   dir SOUTH_WEST  loc 1271,129  DistToNext 39.597980
    Speed 0, FLAG 1
     time  0.00   tot 161.13
   [11]     qtv    move FORWARD   dir SOUTH_WEST  loc 1243,101  DistToNext 11.313708
    Speed 4, FLAG 1
     time 17.82   tot 178.95
   [12]     qtv    move FORWARD   dir SOUTH_WEST  loc 1251,109  DistToNext 0.000000
    Speed 4, FLAG 2
     time  5.09   tot 184.04
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir NORTH_WEST  loc 1165,221  DistToNext 50.000000
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir NORTH_WEST  loc 1200,186  DistToNext 0.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
   [ 2]     qtv    move STBD_TURN   dir NORTH  loc 1200,186  DistToNext 50.000000
    Speed 0, FLAG 1
     time  0.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move NO_DIRECTION   dir WEST  loc 1522,143  DistToNext 60.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir WEST  loc 1462,143  DistToNext 0.000000
    Speed 1, FLAG 1
     time 108.00   tot 108.00
   [ 2]     qtv    move PORT_TURN   dir SOUTH_WEST  loc 1462,143  DistToNext 59.396969
    Speed 0, FLAG 1
     time  0.00   tot 108.00
   [ 3]     qtv    move FORWARD   dir SOUTH_WEST  loc 1420,101  DistToNext 0.000000
    Speed 3, FLAG 1
     time 35.64   tot 143.64
   [ 4]     qtv    move PORT_TURN   dir SOUTH  loc 1420,101  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot 143.64
   [ 5]     qtv    move FORWARD   dir SOUTH  loc 1420,41  DistToNext 0.000000
    Speed 5, FLAG 1
     time 21.60   tot 165.24
   [ 6]     qtv    move PORT_TURN   dir SOUTH_EAST  loc 1420,41  DistToNext 31.112698
    Speed 0, FLAG 1
     time  0.00   tot 165.24
   [ 7]     qtv    move FORWARD   dir SOUTH_EAST  loc 1442,19  DistToNext 4.242640
    Speed 4, FLAG 1
     time 14.00   tot 179.24
   [ 8]     qtv    move FORWARD   dir SOUTH_EAST  loc 1439,22  DistToNext 0.000000
    Speed 4, FLAG 2
     time  1.91   tot 181.15
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir NORTH_WEST  loc 953,471  DistToNext 50.000000
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir NORTH_WEST  loc 988,436  DistToNext 50.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move NO_DIRECTION   dir NORTH  loc 1120,468  DistToNext 70.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir NORTH  loc 1120,538  DistToNext 0.000000
    Speed 1, FLAG 1
     time 126.00   tot 126.00
   [ 2]     qtv    move STBD_TURN   dir NORTH_EAST  loc 1120,538  DistToNext 59.396969
    Speed 0, FLAG 1
     time  0.00   tot 126.00
   [ 3]     qtv    move FORWARD   dir NORTH_EAST  loc 1162,580  DistToNext 49.497475
    Speed 2, FLAG 1
     time 53.46   tot 179.46
   [ 4]     qtv    move FORWARD   dir NORTH_EAST  loc 1127,545  DistToNext 0.000000
    Speed 2, FLAG 2
     time 44.55   tot 224.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir SOUTH_WEST  loc 922,658  DistToNext 0.000000
    Speed 4, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move PORT_TURN   dir SOUTH  loc 922,658  DistToNext 120.000000
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move FORWARD   dir SOUTH  loc 922,538  DistToNext 0.000000
    Speed 6, FLAG 1
     time 36.00   tot 36.00
   [ 3]     qtv    move STBD_TURN   dir SOUTH_WEST  loc 922,538  DistToNext 60.811184
    Speed 0, FLAG 1
     time  0.00   tot 36.00
   [ 4]     qtv    move FORWARD   dir SOUTH_WEST  loc 879,495  DistToNext 0.000000
    Speed 4, FLAG 1
     time 27.36   tot 63.36
   [ 5]     qtv    move STBD_TURN   dir WEST  loc 879,495  DistToNext 60.000000
    Speed 4, FLAG 1
     time  0.00   tot 63.36
   [ 6]     qtv    move FORWARD   dir WEST  loc 819,495  DistToNext 0.000000
    Speed 2, FLAG 1
     time 54.00   tot 117.36
   [ 7]     qtv    move STBD_TURN   dir NORTH_WEST  loc 819,495  DistToNext 0.000000
    Speed 2, FLAG 1
     time  0.00   tot 117.36
   [ 8]     qtv    move STBD_TURN   dir NORTH  loc 819,495  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot 117.36
   [ 9]     qtv    move FORWARD   dir NORTH  loc 819,555  DistToNext 0.000000
    Speed 2, FLAG 1
     time 54.00   tot 171.36
   [10]     qtv    move STBD_TURN   dir NORTH_EAST  loc 819,555  DistToNext 118.793938
    Speed 2, FLAG 1
     time  0.00   tot 171.36
   [11]     qtv    move FORWARD   dir NORTH_EAST  loc 903,639  DistToNext 0.000000
    Speed 4, FLAG 1
     time 53.46   tot 224.82
   [12]     qtv    move PORT_TURN   dir NORTH  loc 903,639  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot 224.82
   [13]     qtv    move FORWARD   dir NORTH  loc 903,699  DistToNext 0.000000
    Speed 2, FLAG 1
     time 54.00   tot 278.82
   [14]     qtv    move PORT_TURN   dir NORTH_WEST  loc 903,699  DistToNext 60.811184
    Speed 2, FLAG 1
     time  0.00   tot 278.82
   [15]     qtv    move FORWARD   dir NORTH_WEST  loc 860,742  DistToNext 0.000000
    Speed 2, FLAG 1
     time 54.73   tot 333.55
   [16]     qtv    move PORT_TURN   dir WEST  loc 860,742  DistToNext 0.000000
    Speed 2, FLAG 1
     time  0.00   tot 333.55
   [17]     qtv    move PORT_TURN   dir SOUTH_WEST  loc 860,742  DistToNext 60.811184
    Speed 0, FLAG 1
     time  0.00   tot 333.55
   [18]     qtv    move FORWARD   dir SOUTH_WEST  loc 817,699  DistToNext 0.000000
    Speed 4, FLAG 1
     time 27.36   tot 360.91
   [19]     qtv    move STBD_TURN   dir WEST  loc 817,699  DistToNext 100.000000
    Speed 4, FLAG 1
     time  0.00   tot 360.91
   [20]     qtv    move FORWARD   dir WEST  loc 717,699  DistToNext 0.000000
    Speed 2, FLAG 1
     time 90.00   tot 450.91
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir SOUTH_WEST  loc 844,658  DistToNext 0.000000
    Speed 4, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move STBD_TURN   dir WEST  loc 844,658  DistToNext 120.000000
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move FORWARD   dir WEST  loc 724,658  DistToNext 0.000000
    Speed 2, FLAG 1
     time 108.00   tot 108.00
   [ 3]     qtv    move STBD_TURN   dir NORTH_WEST  loc 724,658  DistToNext 60.811184
    Speed 0, FLAG 1
     time  0.00   tot 108.00
   [ 4]     qtv    move FORWARD   dir NORTH_WEST  loc 681,701  DistToNext 0.000000
    Speed 0, FLAG 1
     time   inf   tot   inf
   [ 5]     qtv    move STBD_TURN   dir NORTH  loc 681,701  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot   inf
   [ 6]     qtv    move FORWARD   dir NORTH  loc 681,761  DistToNext 0.000000
    Speed 2, FLAG 1
     time 54.00   tot   inf
   [ 7]     qtv    move STBD_TURN   dir NORTH_EAST  loc 681,761  DistToNext 0.000000
    Speed 2, FLAG 1
     time  0.00   tot   inf
   [ 8]     qtv    move STBD_TURN   dir EAST  loc 681,761  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot   inf
   [ 9]     qtv    move FORWARD   dir EAST  loc 741,761  DistToNext 0.000000
    Speed 6, FLAG 1
     time 18.00   tot   inf
   [10]     qtv    move STBD_TURN   dir SOUTH_EAST  loc 741,761  DistToNext 118.793938
    Speed 6, FLAG 1
     time  0.00   tot   inf
   [11]     qtv    move FORWARD   dir SOUTH_EAST  loc 825,677  DistToNext 0.000000
    Speed 5, FLAG 1
     time 42.77   tot   inf
   [12]     qtv    move STBD_TURN   dir SOUTH  loc 825,677  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot   inf
   [13]     qtv    move FORWARD   dir SOUTH  loc 825,617  DistToNext 0.000000
    Speed 6, FLAG 1
     time 18.00   tot   inf
   [14]     qtv    move STBD_TURN   dir SOUTH_WEST  loc 825,617  DistToNext 60.811184
    Speed 6, FLAG 1
     time  0.00   tot   inf
   [15]     qtv    move FORWARD   dir SOUTH_WEST  loc 782,574  DistToNext 0.000000
    Speed 4, FLAG 1
     time 27.36   tot   inf
   [16]     qtv    move STBD_TURN   dir WEST  loc 782,574  DistToNext 0.000000
    Speed 4, FLAG 1
     time  0.00   tot   inf
   [17]     qtv    move STBD_TURN   dir NORTH_WEST  loc 782,574  DistToNext 60.811184
    Speed 0, FLAG 1
     time  0.00   tot   inf
   [18]     qtv    move FORWARD   dir NORTH_WEST  loc 739,617  DistToNext 0.000000
    Speed 4, FLAG 1
     time 27.36   tot   inf
   [19]     qtv    move STBD_TURN   dir NORTH  loc 739,617  DistToNext 32.000000
    Speed 4, FLAG 1
     time  0.00   tot   inf
   [20]     qtv    move FORWARD   dir NORTH  loc 739,649  DistToNext 5.000000
    Speed 2, FLAG 1
     time 28.80   tot   inf
   [21]     qtv    move FORWARD   dir NORTH  loc 739,644  DistToNext 0.000000
    Speed 2, FLAG 2
     time  4.50   tot   inf
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir SOUTH_WEST  loc 662,760  DistToNext 0.000000
    Speed 4, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move STBD_TURN   dir WEST  loc 662,760  DistToNext 60.000000
    Speed 4, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move FORWARD   dir WEST  loc 602,760  DistToNext 0.000000
    Speed 2, FLAG 1
     time 54.00   tot 54.00
   [ 3]     qtv    move STBD_TURN   dir NORTH_WEST  loc 602,760  DistToNext 60.811184
    Speed 2, FLAG 1
     time  0.00   tot 54.00
   [ 4]     qtv    move FORWARD   dir NORTH_WEST  loc 559,803  DistToNext 0.000000
    Speed 2, FLAG 1
     time 54.73   tot 108.73
   [ 5]     qtv    move STBD_TURN   dir NORTH  loc 559,803  DistToNext 0.000000
    Speed 2, FLAG 1
     time  0.00   tot 108.73
   [ 6]     qtv    move STBD_TURN   dir NORTH_EAST  loc 559,803  DistToNext 60.811184
    Speed 0, FLAG 1
     time  0.00   tot 108.73
   [ 7]     qtv    move FORWARD   dir NORTH_EAST  loc 602,846  DistToNext 0.000000
    Speed 4, FLAG 1
     time 27.36   tot 136.09
   [ 8]     qtv    move PORT_TURN   dir NORTH  loc 602,846  DistToNext 48.000000
    Speed 4, FLAG 1
     time  0.00   tot 136.09
   [ 9]     qtv    move FORWARD   dir NORTH  loc 602,894  DistToNext 37.000000
    Speed 2, FLAG 1
     time 43.20   tot 179.29
   [10]     qtv    move FORWARD   dir NORTH  loc 602,857  DistToNext 0.000000
    Speed 2, FLAG 2
     time 33.30   tot 212.59
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir SOUTH_EAST  loc 891,279  DistToNext 0.000000
    Speed 5, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move PORT_TURN   dir EAST  loc 891,279  DistToNext 600.000000
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move FORWARD   dir EAST  loc 1491,279  DistToNext 0.000000
    Speed 6, FLAG 1
     time 180.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir NORTH_EAST  loc 824,1240  DistToNext 0.000000
    Speed 3, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move STBD_TURN   dir EAST  loc 824,1240  DistToNext 120.000000
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move FORWARD   dir EAST  loc 944,1240  DistToNext 0.000000
    Speed 5, FLAG 1
     time 43.20   tot 43.20
   [ 3]     qtv    move PORT_TURN   dir NORTH_EAST  loc 944,1240  DistToNext 60.811184
    Speed 0, FLAG 1
     time  0.00   tot 43.20
   [ 4]     qtv    move FORWARD   dir NORTH_EAST  loc 987,1283  DistToNext 0.000000
    Speed 3, FLAG 1
     time 36.49   tot 79.69
   [ 5]     qtv    move PORT_TURN   dir NORTH  loc 987,1283  DistToNext 60.000000
    Speed 3, FLAG 1
     time  0.00   tot 79.69
   [ 6]     qtv    move FORWARD   dir NORTH  loc 987,1343  DistToNext 0.000000
    Speed 2, FLAG 1
     time 54.00   tot 133.69
   [ 7]     qtv    move PORT_TURN   dir NORTH_WEST  loc 987,1343  DistToNext 0.000000
    Speed 2, FLAG 1
     time  0.00   tot 133.69
   [ 8]     qtv    move PORT_TURN   dir WEST  loc 987,1343  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot 133.69
   [ 9]     qtv    move FORWARD   dir WEST  loc 927,1343  DistToNext 0.000000
    Speed 2, FLAG 1
     time 54.00   tot 187.69
   [10]     qtv    move STBD_TURN   dir NORTH_WEST  loc 927,1343  DistToNext -2.135196
    Speed 2, FLAG 1
     time  0.00   tot 187.69
   [11]     qtv    move FORWARD   dir NORTH_WEST  loc 928,1342  DistToNext -2.135196
    Speed -1, FLAG 1
     time -7.69   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir SOUTH_WEST  loc 1048,1544  DistToNext 398.808228
    Speed 4, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir SOUTH_WEST  loc 766,1262  DistToNext 0.000000
    Speed 4, FLAG 1
     time 179.46   tot 179.46
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir SOUTH_WEST  loc 1162,1196  DistToNext 0.000000
    Speed 4, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move STBD_TURN   dir WEST  loc 1162,1196  DistToNext 200.000000
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move FORWARD   dir WEST  loc 962,1196  DistToNext 0.000000
    Speed 2, FLAG 1
     time 180.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir SOUTH  loc 1662,488  DistToNext 500.000000
    Speed 5, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir SOUTH  loc 1662,-12  DistToNext 0.000000
    Speed 5, FLAG 1
     time 180.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir SOUTH_WEST  loc 2004,612  DistToNext 299.813263
    Speed 3, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir SOUTH_WEST  loc 1792,400  DistToNext 0.000000
    Speed 3, FLAG 1
     time 179.89   tot 179.89
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir NORTH  loc 1491,719  DistToNext 0.000000
    Speed 2, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move STBD_TURN   dir NORTH_EAST  loc 1491,719  DistToNext 59.396969
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move FORWARD   dir NORTH_EAST  loc 1533,761  DistToNext 0.000000
    Speed 3, FLAG 1
     time 35.64   tot 35.64
   [ 3]     qtv    move STBD_TURN   dir EAST  loc 1533,761  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot 35.64
   [ 4]     qtv    move FORWARD   dir EAST  loc 1593,761  DistToNext 0.000000
    Speed 5, FLAG 1
     time 21.60   tot 57.24
   [ 5]     qtv    move STBD_TURN   dir SOUTH_EAST  loc 1593,761  DistToNext 59.396969
    Speed 0, FLAG 1
     time  0.00   tot 57.24
   [ 6]     qtv    move FORWARD   dir SOUTH_EAST  loc 1635,719  DistToNext 0.000000
    Speed 4, FLAG 1
     time 26.73   tot 83.97
   [ 7]     qtv    move STBD_TURN   dir SOUTH  loc 1635,719  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot 83.97
   [ 8]     qtv    move FORWARD   dir SOUTH  loc 1635,659  DistToNext 0.000000
    Speed 5, FLAG 1
     time 21.60   tot 105.57
   [ 9]     qtv    move STBD_TURN   dir SOUTH_WEST  loc 1635,659  DistToNext 59.396969
    Speed 0, FLAG 1
     time  0.00   tot 105.57
   [10]     qtv    move FORWARD   dir SOUTH_WEST  loc 1593,617  DistToNext 0.000000
    Speed 3, FLAG 1
     time 35.64   tot 141.20
   [11]     qtv    move STBD_TURN   dir WEST  loc 1593,617  DistToNext 42.000000
    Speed 0, FLAG 1
     time  0.00   tot 141.20
   [12]     qtv    move FORWARD   dir WEST  loc 1551,617  DistToNext 25.000000
    Speed 2, FLAG 1
     time 37.80   tot 179.00
   [13]     qtv    move FORWARD   dir WEST  loc 1576,617  DistToNext 0.000000
    Speed 2, FLAG 2
     time 22.50   tot 201.50
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir SOUTH  loc 1580,316  DistToNext 0.000000
    Speed 6, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move STBD_TURN   dir SOUTH_WEST  loc 1580,316  DistToNext 239.002090
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move FORWARD   dir SOUTH_WEST  loc 1411,147  DistToNext 0.000000
    Speed 4, FLAG 1
     time 107.55   tot 107.55
   [ 3]     qtv    move STBD_TURN   dir WEST  loc 1411,147  DistToNext 80.000000
    Speed 0, FLAG 1
     time  0.00   tot 107.55
   [ 4]     qtv    move FORWARD   dir WEST  loc 1331,147  DistToNext 41.000000
    Speed 2, FLAG 1
     time 72.00   tot 179.55
   [ 5]     qtv    move FORWARD   dir WEST  loc 1372,147  DistToNext 0.000000
    Speed 2, FLAG 2
     time 36.90   tot 216.45
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir WEST  loc 1614,-311  DistToNext 0.000000
    Speed 2, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move PORT_TURN   dir SOUTH_WEST  loc 1614,-311  DistToNext 0.000000
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move STBD_TURN   dir WEST  loc 1614,-311  DistToNext 70.000000
    Speed 2, FLAG 1
     time  0.00   tot  0.00
   [ 3]     qtv    move FORWARD   dir WEST  loc 1544,-311  DistToNext 0.000000
    Speed 2, FLAG 1
     time 63.00   tot 63.00
   [ 4]     qtv    move STBD_TURN   dir NORTH_WEST  loc 1544,-311  DistToNext 70.710678
    Speed 2, FLAG 1
     time  0.00   tot 63.00
   [ 5]     qtv    move FORWARD   dir NORTH_WEST  loc 1494,-261  DistToNext 0.000000
    Speed 2, FLAG 1
     time 63.64   tot 126.64
   [ 6]     qtv    move STBD_TURN   dir NORTH  loc 1494,-261  DistToNext 0.000000
    Speed 2, FLAG 1
     time  0.00   tot 126.64
   [ 7]     qtv    move STBD_TURN   dir NORTH_EAST  loc 1494,-261  DistToNext 87.681244
    Speed 0, FLAG 1
     time  0.00   tot 126.64
   [ 8]     qtv    move FORWARD   dir NORTH_EAST  loc 1556,-199  DistToNext 33.941124
    Speed 3, FLAG 1
     time 52.61   tot 179.25
   [ 9]     qtv    move FORWARD   dir NORTH_EAST  loc 1580,-175  DistToNext 0.000000
    Speed 3, FLAG 2
     time 20.36   tot 199.61
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir WEST  loc 1688,-706  DistToNext 0.000000
    Speed 2, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move PORT_TURN   dir SOUTH_WEST  loc 1688,-706  DistToNext 0.000000
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move STBD_TURN   dir WEST  loc 1688,-706  DistToNext 60.000000
    Speed 2, FLAG 1
     time  0.00   tot  0.00
   [ 3]     qtv    move FORWARD   dir WEST  loc 1628,-706  DistToNext 0.000000
    Speed 2, FLAG 1
     time 54.00   tot 54.00
   [ 4]     qtv    move STBD_TURN   dir NORTH_WEST  loc 1628,-706  DistToNext 60.811184
    Speed 2, FLAG 1
     time  0.00   tot 54.00
   [ 5]     qtv    move FORWARD   dir NORTH_WEST  loc 1585,-663  DistToNext 0.000000
    Speed 2, FLAG 1
     time 54.73   tot 108.73
   [ 6]     qtv    move STBD_TURN   dir NORTH  loc 1585,-663  DistToNext 0.000000
    Speed 2, FLAG 1
     time  0.00   tot 108.73
   [ 7]     qtv    move STBD_TURN   dir NORTH_EAST  loc 1585,-663  DistToNext 60.811184
    Speed 0, FLAG 1
     time  0.00   tot 108.73
   [ 8]     qtv    move FORWARD   dir NORTH_EAST  loc 1628,-620  DistToNext 0.000000
    Speed 3, FLAG 1
     time 36.49   tot 145.22
   [ 9]     qtv    move PORT_TURN   dir NORTH  loc 1628,-620  DistToNext 38.000000
    Speed 3, FLAG 1
     time  0.00   tot 145.22
   [10]     qtv    move FORWARD   dir NORTH  loc 1628,-582  DistToNext 17.000000
    Speed 2, FLAG 1
     time 34.20   tot 179.42
   [11]     qtv    move FORWARD   dir NORTH  loc 1628,-599  DistToNext 0.000000
    Speed 2, FLAG 2
     time 15.30   tot 194.72
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir NORTH_WEST  loc 1497,-635  DistToNext 50.000000
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir NORTH_WEST  loc 1532,-670  DistToNext 50.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir SOUTH_WEST  loc 1572,1372  DistToNext 0.000000
    Speed 4, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move STBD_TURN   dir WEST  loc 1572,1372  DistToNext 200.000000
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move FORWARD   dir WEST  loc 1372,1372  DistToNext 0.000000
    Speed 2, FLAG 1
     time 180.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir SOUTH  loc 1367,-453  DistToNext 0.000000
    Speed 6, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move STBD_TURN   dir SOUTH_WEST  loc 1367,-453  DistToNext 60.811184
    Speed 6, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move FORWARD   dir SOUTH_WEST  loc 1324,-496  DistToNext 0.000000
    Speed 4, FLAG 1
     time 27.36   tot 27.36
   [ 3]     qtv    move STBD_TURN   dir WEST  loc 1324,-496  DistToNext 60.000000
    Speed 4, FLAG 1
     time  0.00   tot 27.36
   [ 4]     qtv    move FORWARD   dir WEST  loc 1264,-496  DistToNext 0.000000
    Speed 2, FLAG 1
     time 54.00   tot 81.36
   [ 5]     qtv    move STBD_TURN   dir NORTH_WEST  loc 1264,-496  DistToNext 0.000000
    Speed 2, FLAG 1
     time  0.00   tot 81.36
   [ 6]     qtv    move STBD_TURN   dir NORTH  loc 1264,-496  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot 81.36
   [ 7]     qtv    move FORWARD   dir NORTH  loc 1264,-436  DistToNext 0.000000
    Speed 2, FLAG 1
     time 54.00   tot 135.36
   [ 8]     qtv    move STBD_TURN   dir NORTH_EAST  loc 1264,-436  DistToNext 98.994949
    Speed 2, FLAG 1
     time  0.00   tot 135.36
   [ 9]     qtv    move FORWARD   dir NORTH_EAST  loc 1334,-366  DistToNext 0.000000
    Speed 4, FLAG 1
     time 44.55   tot 179.91
  End Path <===
* ==> Start Path
   [ 0]     qtv    move NO_DIRECTION   dir SOUTH_EAST  loc 1624,-24  DistToNext 59.396969
    Speed 4, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir SOUTH_EAST  loc 1666,-66  DistToNext 0.000000
    Speed 4, FLAG 1
     time 26.73   tot 26.73
   [ 2]     qtv    move PORT_TURN   dir EAST  loc 1666,-66  DistToNext 120.000000
    Speed 0, FLAG 1
     time  0.00   tot 26.73
   [ 3]     qtv    move FORWARD   dir EAST  loc 1786,-66  DistToNext 0.000000
    Speed 5, FLAG 1
     time 43.20   tot 69.93
   [ 4]     qtv    move PORT_TURN   dir NORTH_EAST  loc 1786,-66  DistToNext 60.811184
    Speed 0, FLAG 1
     time  0.00   tot 69.93
   [ 5]     qtv    move FORWARD   dir NORTH_EAST  loc 1829,-23  DistToNext 0.000000
    Speed 3, FLAG 1
     time 36.49   tot 106.41
   [ 6]     qtv    move PORT_TURN   dir NORTH  loc 1829,-23  DistToNext 60.000000
    Speed 3, FLAG 1
     time  0.00   tot 106.41
   [ 7]     qtv    move FORWARD   dir NORTH  loc 1829,37  DistToNext 0.000000
    Speed 1, FLAG 1
     time 108.00   tot 214.41
   [ 8]     qtv    move PORT_TURN   dir NORTH_WEST  loc 1829,37  DistToNext 0.000000
    Speed 1, FLAG 1
     time  0.00   tot 214.41
   [ 9]     qtv    move PORT_TURN   dir WEST  loc 1829,37  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot 214.41
   [10]     qtv    move FORWARD   dir WEST  loc 1769,37  DistToNext 0.000000
    Speed 1, FLAG 1
     time 108.00   tot 322.41
   [11]     qtv    move STBD_TURN   dir NORTH_WEST  loc 1769,37  DistToNext -39.559818
    Speed 1, FLAG 1
     time  0.00   tot 322.41
   [12]     qtv    move FORWARD   dir NORTH_WEST  loc 1796,10  DistToNext -39.559818
    Speed -1, FLAG 1
     time -142.42   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir SOUTH_WEST  loc 1574,-492  DistToNext 0.000000
    Speed 3, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move PORT_TURN   dir SOUTH  loc 1574,-492  DistToNext 70.000000
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move FORWARD   dir SOUTH  loc 1574,-562  DistToNext 0.000000
    Speed 4, FLAG 1
     time 31.50   tot 31.50
   [ 3]     qtv    move PORT_TURN   dir SOUTH_EAST  loc 1574,-562  DistToNext 69.296463
    Speed 0, FLAG 1
     time  0.00   tot 31.50
   [ 4]     qtv    move FORWARD   dir SOUTH_EAST  loc 1623,-611  DistToNext 0.000000
    Speed 3, FLAG 1
     time 41.58   tot 73.08
   [ 5]     qtv    move PORT_TURN   dir EAST  loc 1623,-611  DistToNext 140.000000
    Speed 0, FLAG 1
     time  0.00   tot 73.08
   [ 6]     qtv    move FORWARD   dir EAST  loc 1763,-611  DistToNext 0.000000
    Speed 4, FLAG 1
     time 63.00   tot 136.08
   [ 7]     qtv    move STBD_TURN   dir SOUTH_EAST  loc 1763,-611  DistToNext 72.124893
    Speed 0, FLAG 1
     time  0.00   tot 136.08
   [ 8]     qtv    move FORWARD   dir SOUTH_EAST  loc 1814,-662  DistToNext 0.000000
    Speed 3, FLAG 1
     time 43.27   tot 179.35
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir EAST  loc 1168,231  DistToNext 0.000000
    Speed 6, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move PORT_TURN   dir NORTH_EAST  loc 1168,231  DistToNext 138.592926
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move FORWARD   dir NORTH_EAST  loc 1266,329  DistToNext 0.000000
    Speed 4, FLAG 1
     time 62.37   tot 62.37
   [ 3]     qtv    move PORT_TURN   dir NORTH  loc 1266,329  DistToNext 70.000000
    Speed 0, FLAG 1
     time  0.00   tot 62.37
   [ 4]     qtv    move FORWARD   dir NORTH  loc 1266,399  DistToNext 0.000000
    Speed 2, FLAG 1
     time 63.00   tot 125.37
   [ 5]     qtv    move PORT_TURN   dir NORTH_WEST  loc 1266,399  DistToNext 70.710678
    Speed 2, FLAG 1
     time  0.00   tot 125.37
   [ 6]     qtv    move FORWARD   dir NORTH_WEST  loc 1216,449  DistToNext 0.000000
    Speed 2, FLAG 1
     time 63.64   tot 189.00
   [ 7]     qtv    move PORT_TURN   dir WEST  loc 1216,449  DistToNext 0.000000
    Speed 2, FLAG 1
     time  0.00   tot 189.00
   [ 8]     qtv    move PORT_TURN   dir SOUTH_WEST  loc 1216,449  DistToNext 70.710678
    Speed 0, FLAG 1
     time  0.00   tot 189.00
   [ 9]     qtv    move FORWARD   dir SOUTH_WEST  loc 1166,399  DistToNext 0.000000
    Speed 4, FLAG 1
     time 31.82   tot 220.82
   [10]     qtv    move STBD_TURN   dir WEST  loc 1166,399  DistToNext 130.000000
    Speed 4, FLAG 1
     time  0.00   tot 220.82
   [11]     qtv    move FORWARD   dir WEST  loc 1036,399  DistToNext 0.000000
    Speed 2, FLAG 1
     time 117.00   tot 337.82
  End Path <===
* ==> Start Path
   [ 0]     qtv    move STBD_TURN   dir NORTH  loc 1200,186  DistToNext 70.000000
    Speed 2, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir NORTH  loc 1200,256  DistToNext 0.000000
    Speed 2, FLAG 1
     time 63.00   tot 63.00
   [ 2]     qtv    move STBD_TURN   dir NORTH_EAST  loc 1200,256  DistToNext 69.296463
    Speed 0, FLAG 1
     time  0.00   tot 63.00
   [ 3]     qtv    move FORWARD   dir NORTH_EAST  loc 1249,305  DistToNext 0.000000
    Speed 4, FLAG 1
     time 31.18   tot 94.18
   [ 4]     qtv    move STBD_TURN   dir EAST  loc 1249,305  DistToNext 70.000000
    Speed 0, FLAG 1
     time  0.00   tot 94.18
   [ 5]     qtv    move FORWARD   dir EAST  loc 1319,305  DistToNext 0.000000
    Speed 6, FLAG 1
     time 21.00   tot 115.18
   [ 6]     qtv    move STBD_TURN   dir SOUTH_EAST  loc 1319,305  DistToNext 178.190903
    Speed 0, FLAG 1
     time  0.00   tot 115.18
   [ 7]     qtv    move FORWARD   dir SOUTH_EAST  loc 1445,179  DistToNext 0.000000
    Speed 5, FLAG 1
     time 64.15   tot 179.33
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir SOUTH_WEST  loc 1477,130  DistToNext 50.000000
    Speed 3, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir SOUTH_WEST  loc 1512,95  DistToNext 50.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir NORTH_WEST  loc 988,436  DistToNext 50.000000
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir NORTH_WEST  loc 1023,401  DistToNext 0.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
   [ 2]     qtv    move STBD_TURN   dir NORTH  loc 1023,401  DistToNext 50.000000
    Speed 0, FLAG 1
     time  0.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move NO_DIRECTION   dir NORTH_EAST  loc 1162,580  DistToNext 69.296463
    Speed 2, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir NORTH_EAST  loc 1211,629  DistToNext 0.000000
    Speed 2, FLAG 1
     time 62.37   tot 62.37
   [ 2]     qtv    move STBD_TURN   dir EAST  loc 1211,629  DistToNext 140.000000
    Speed 0, FLAG 1
     time  0.00   tot 62.37
   [ 3]     qtv    move FORWARD   dir EAST  loc 1351,629  DistToNext 0.000000
    Speed 4, FLAG 1
     time 63.00   tot 125.37
   [ 4]     qtv    move PORT_TURN   dir NORTH_EAST  loc 1351,629  DistToNext 70.710678
    Speed 0, FLAG 1
     time  0.00   tot 125.37
   [ 5]     qtv    move FORWARD   dir NORTH_EAST  loc 1401,679  DistToNext 0.000000
    Speed 2, FLAG 1
     time 63.64   tot 189.00
   [ 6]     qtv    move PORT_TURN   dir NORTH  loc 1401,679  DistToNext 70.000000
    Speed 2, FLAG 1
     time  0.00   tot 189.00
   [ 7]     qtv    move FORWARD   dir NORTH  loc 1401,749  DistToNext 0.000000
    Speed 1, FLAG 1
     time 126.00   tot 315.00
   [ 8]     qtv    move PORT_TURN   dir NORTH_WEST  loc 1401,749  DistToNext 0.000000
    Speed 1, FLAG 1
     time  0.00   tot 315.00
   [ 9]     qtv    move PORT_TURN   dir WEST  loc 1401,749  DistToNext 70.000000
    Speed 0, FLAG 1
     time  0.00   tot 315.00
   [10]     qtv    move FORWARD   dir WEST  loc 1331,749  DistToNext 0.000000
    Speed 1, FLAG 1
     time 126.00   tot 441.00
   [11]     qtv    move STBD_TURN   dir NORTH_WEST  loc 1331,749  DistToNext -72.501778
    Speed 1, FLAG 1
     time  0.00   tot 441.00
   [12]     qtv    move FORWARD   dir NORTH_WEST  loc 1382,698  DistToNext 0.000000
    Speed -1, FLAG 1
     time -261.01   tot 180.00
   [13]     qtv    move PORT_TURN   dir WEST  loc 1382,698  DistToNext -72.501778
    Speed 0, FLAG 1
     time  0.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir NORTH_EAST  loc 717,699  DistToNext 0.000000
    Speed 4, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move STBD_TURN   dir EAST  loc 717,699  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move FORWARD   dir EAST  loc 777,699  DistToNext 0.000000
    Speed 6, FLAG 1
     time 18.00   tot 18.00
   [ 3]     qtv    move STBD_TURN   dir SOUTH_EAST  loc 777,699  DistToNext 59.396969
    Speed 0, FLAG 1
     time  0.00   tot 18.00
   [ 4]     qtv    move FORWARD   dir SOUTH_EAST  loc 819,657  DistToNext 0.000000
    Speed 5, FLAG 1
     time 21.38   tot 39.38
   [ 5]     qtv    move STBD_TURN   dir SOUTH  loc 819,657  DistToNext 120.000000
    Speed 0, FLAG 1
     time  0.00   tot 39.38
   [ 6]     qtv    move FORWARD   dir SOUTH  loc 819,537  DistToNext 0.000000
    Speed 6, FLAG 1
     time 36.00   tot 75.38
   [ 7]     qtv    move STBD_TURN   dir SOUTH_WEST  loc 819,537  DistToNext 60.811184
    Speed 0, FLAG 1
     time  0.00   tot 75.38
   [ 8]     qtv    move FORWARD   dir SOUTH_WEST  loc 776,494  DistToNext 0.000000
    Speed 4, FLAG 1
     time 27.36   tot 102.75
   [ 9]     qtv    move STBD_TURN   dir WEST  loc 776,494  DistToNext 60.000000
    Speed 4, FLAG 1
     time  0.00   tot 102.75
   [10]     qtv    move FORWARD   dir WEST  loc 716,494  DistToNext 0.000000
    Speed 2, FLAG 1
     time 54.00   tot 156.75
   [11]     qtv    move STBD_TURN   dir NORTH_WEST  loc 716,494  DistToNext 0.000000
    Speed 2, FLAG 1
     time  0.00   tot 156.75
   [12]     qtv    move STBD_TURN   dir NORTH  loc 716,494  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot 156.75
   [13]     qtv    move FORWARD   dir NORTH  loc 716,554  DistToNext 0.000000
    Speed 2, FLAG 1
     time 54.00   tot 210.75
   [14]     qtv    move STBD_TURN   dir NORTH_EAST  loc 716,554  DistToNext 118.793938
    Speed 2, FLAG 1
     time  0.00   tot 210.75
   [15]     qtv    move FORWARD   dir NORTH_EAST  loc 800,638  DistToNext 0.000000
    Speed 4, FLAG 1
     time 53.46   tot 264.20
   [16]     qtv    move PORT_TURN   dir NORTH  loc 800,638  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot 264.20
   [17]     qtv    move FORWARD   dir NORTH  loc 800,698  DistToNext 0.000000
    Speed 2, FLAG 1
     time 54.00   tot 318.20
   [18]     qtv    move PORT_TURN   dir NORTH_WEST  loc 800,698  DistToNext 60.811184
    Speed 2, FLAG 1
     time  0.00   tot 318.20
   [19]     qtv    move FORWARD   dir NORTH_WEST  loc 757,741  DistToNext 0.000000
    Speed 2, FLAG 1
     time 54.73   tot 372.93
   [20]     qtv    move PORT_TURN   dir WEST  loc 757,741  DistToNext 0.000000
    Speed 2, FLAG 1
     time  0.00   tot 372.93
   [21]     qtv    move PORT_TURN   dir SOUTH_WEST  loc 757,741  DistToNext 60.811184
    Speed 0, FLAG 1
     time  0.00   tot 372.93
   [22]     qtv    move FORWARD   dir SOUTH_WEST  loc 714,698  DistToNext 0.000000
    Speed 4, FLAG 1
     time 27.36   tot 400.30
   [23]     qtv    move STBD_TURN   dir WEST  loc 714,698  DistToNext 56.000000
    Speed 4, FLAG 1
     time  0.00   tot 400.30
   [24]     qtv    move FORWARD   dir WEST  loc 658,698  DistToNext 53.000000
    Speed 2, FLAG 1
     time 50.40   tot 450.70
   [25]     qtv    move FORWARD   dir WEST  loc 711,698  DistToNext 0.000000
    Speed 2, FLAG 2
     time 47.70   tot 498.40
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir NORTH  loc 739,649  DistToNext 200.000000
    Speed 2, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move BACK_SAIL   dir NORTH  loc 739,849  DistToNext 0.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move FORWARD   dir NORTH  loc 739,849  DistToNext 0.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 3]     qtv    move NO_DIRECTION   dir NORTH  loc 739,849  DistToNext 0.000000
    Speed 0, FLAG 1
     time  0.00   tot  0.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir NORTH  loc 602,894  DistToNext 0.000000
    Speed 2, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move STBD_TURN   dir NORTH_EAST  loc 602,894  DistToNext 398.808228
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move FORWARD   dir NORTH_EAST  loc 884,1176  DistToNext 0.000000
    Speed 4, FLAG 1
     time 179.46   tot 179.46
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir EAST  loc 1087,350  DistToNext 0.000000
    Speed 6, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move PORT_TURN   dir NORTH_EAST  loc 1087,350  DistToNext 118.793938
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move FORWARD   dir NORTH_EAST  loc 1171,434  DistToNext 0.000000
    Speed 4, FLAG 1
     time 53.46   tot 53.46
   [ 3]     qtv    move PORT_TURN   dir NORTH  loc 1171,434  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot 53.46
   [ 4]     qtv    move FORWARD   dir NORTH  loc 1171,494  DistToNext 0.000000
    Speed 2, FLAG 1
     time 54.00   tot 107.46
   [ 5]     qtv    move PORT_TURN   dir NORTH_WEST  loc 1171,494  DistToNext 60.811184
    Speed 2, FLAG 1
     time  0.00   tot 107.46
   [ 6]     qtv    move FORWARD   dir NORTH_WEST  loc 1128,537  DistToNext 0.000000
    Speed 2, FLAG 1
     time 54.73   tot 162.19
   [ 7]     qtv    move PORT_TURN   dir WEST  loc 1128,537  DistToNext 0.000000
    Speed 2, FLAG 1
     time  0.00   tot 162.19
   [ 8]     qtv    move PORT_TURN   dir SOUTH_WEST  loc 1128,537  DistToNext 60.811184
    Speed 0, FLAG 1
     time  0.00   tot 162.19
   [ 9]     qtv    move FORWARD   dir SOUTH_WEST  loc 1085,494  DistToNext 0.000000
    Speed 4, FLAG 1
     time 27.36   tot 189.55
   [10]     qtv    move STBD_TURN   dir WEST  loc 1085,494  DistToNext 120.000000
    Speed 4, FLAG 1
     time  0.00   tot 189.55
   [11]     qtv    move FORWARD   dir WEST  loc 965,494  DistToNext 0.000000
    Speed 2, FLAG 1
     time 108.00   tot 297.55
   [12]     qtv    move STBD_TURN   dir NORTH_WEST  loc 965,494  DistToNext 60.811184
    Speed 0, FLAG 1
     time  0.00   tot 297.55
   [13]     qtv    move FORWARD   dir NORTH_WEST  loc 922,537  DistToNext 0.000000
    Speed 0, FLAG 1
     time   inf   tot   inf
   [14]     qtv    move STBD_TURN   dir NORTH  loc 922,537  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot   inf
   [15]     qtv    move FORWARD   dir NORTH  loc 922,597  DistToNext 0.000000
    Speed 2, FLAG 1
     time 54.00   tot   inf
   [16]     qtv    move STBD_TURN   dir NORTH_EAST  loc 922,597  DistToNext 0.000000
    Speed 2, FLAG 1
     time  0.00   tot   inf
   [17]     qtv    move STBD_TURN   dir EAST  loc 922,597  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot   inf
   [18]     qtv    move FORWARD   dir EAST  loc 982,597  DistToNext 0.000000
    Speed 6, FLAG 1
     time 18.00   tot   inf
   [19]     qtv    move STBD_TURN   dir SOUTH_EAST  loc 982,597  DistToNext 49.497475
    Speed 6, FLAG 1
     time  0.00   tot   inf
   [20]     qtv    move FORWARD   dir SOUTH_EAST  loc 1017,562  DistToNext 39.597980
    Speed 5, FLAG 1
     time 17.82   tot   inf
   [21]     qtv    move FORWARD   dir SOUTH_EAST  loc 989,590  DistToNext 0.000000
    Speed 5, FLAG 2
     time 14.26   tot   inf
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir WEST  loc 928,1342  DistToNext 0.000000
    Speed 2, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move PORT_TURN   dir SOUTH_WEST  loc 928,1342  DistToNext 0.000000
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move STBD_TURN   dir WEST  loc 928,1342  DistToNext 60.000000
    Speed 2, FLAG 1
     time  0.00   tot  0.00
   [ 3]     qtv    move FORWARD   dir WEST  loc 868,1342  DistToNext 0.000000
    Speed 2, FLAG 1
     time 54.00   tot 54.00
   [ 4]     qtv    move STBD_TURN   dir NORTH_WEST  loc 868,1342  DistToNext 60.811184
    Speed 2, FLAG 1
     time  0.00   tot 54.00
   [ 5]     qtv    move FORWARD   dir NORTH_WEST  loc 825,1385  DistToNext 0.000000
    Speed 2, FLAG 1
     time 54.73   tot 108.73
   [ 6]     qtv    move STBD_TURN   dir NORTH  loc 825,1385  DistToNext 0.000000
    Speed 2, FLAG 1
     time  0.00   tot 108.73
   [ 7]     qtv    move STBD_TURN   dir NORTH_EAST  loc 825,1385  DistToNext 60.811184
    Speed 0, FLAG 1
     time  0.00   tot 108.73
   [ 8]     qtv    move FORWARD   dir NORTH_EAST  loc 868,1428  DistToNext 0.000000
    Speed 3, FLAG 1
     time 36.49   tot 145.22
   [ 9]     qtv    move STBD_TURN   dir EAST  loc 868,1428  DistToNext 96.000000
    Speed 3, FLAG 1
     time  0.00   tot 145.22
   [10]     qtv    move FORWARD   dir EAST  loc 964,1428  DistToNext 0.000000
    Speed 5, FLAG 1
     time 34.56   tot 179.78
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir SOUTH_WEST  loc 766,1262  DistToNext 0.000000
    Speed 4, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move STBD_TURN   dir WEST  loc 766,1262  DistToNext 60.000000
    Speed 4, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move FORWARD   dir WEST  loc 706,1262  DistToNext 0.000000
    Speed 2, FLAG 1
     time 54.00   tot 54.00
   [ 3]     qtv    move STBD_TURN   dir NORTH_WEST  loc 706,1262  DistToNext 60.811184
    Speed 2, FLAG 1
     time  0.00   tot 54.00
   [ 4]     qtv    move FORWARD   dir NORTH_WEST  loc 663,1305  DistToNext 0.000000
    Speed 2, FLAG 1
     time 54.73   tot 108.73
   [ 5]     qtv    move STBD_TURN   dir NORTH  loc 663,1305  DistToNext 0.000000
    Speed 2, FLAG 1
     time  0.00   tot 108.73
   [ 6]     qtv    move STBD_TURN   dir NORTH_EAST  loc 663,1305  DistToNext 156.977707
    Speed 0, FLAG 1
     time  0.00   tot 108.73
   [ 7]     qtv    move FORWARD   dir NORTH_EAST  loc 774,1416  DistToNext 0.000000
    Speed 4, FLAG 1
     time 70.64   tot 179.37
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir WEST  loc 962,1196  DistToNext 0.000000
    Speed 2, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move PORT_TURN   dir SOUTH_WEST  loc 962,1196  DistToNext 0.000000
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move STBD_TURN   dir WEST  loc 962,1196  DistToNext 60.000000
    Speed 2, FLAG 1
     time  0.00   tot  0.00
   [ 3]     qtv    move FORWARD   dir WEST  loc 902,1196  DistToNext 0.000000
    Speed 2, FLAG 1
     time 54.00   tot 54.00
   [ 4]     qtv    move STBD_TURN   dir NORTH_WEST  loc 902,1196  DistToNext 60.811184
    Speed 2, FLAG 1
     time  0.00   tot 54.00
   [ 5]     qtv    move FORWARD   dir NORTH_WEST  loc 859,1239  DistToNext 0.000000
    Speed 2, FLAG 1
     time 54.73   tot 108.73
   [ 6]     qtv    move STBD_TURN   dir NORTH  loc 859,1239  DistToNext 0.000000
    Speed 2, FLAG 1
     time  0.00   tot 108.73
   [ 7]     qtv    move STBD_TURN   dir NORTH_EAST  loc 859,1239  DistToNext 60.811184
    Speed 0, FLAG 1
     time  0.00   tot 108.73
   [ 8]     qtv    move FORWARD   dir NORTH_EAST  loc 902,1282  DistToNext 0.000000
    Speed 4, FLAG 1
     time 27.36   tot 136.09
   [ 9]     qtv    move STBD_TURN   dir EAST  loc 902,1282  DistToNext 120.000000
    Speed 4, FLAG 1
     time  0.00   tot 136.09
   [10]     qtv    move FORWARD   dir EAST  loc 1022,1282  DistToNext 0.000000
    Speed 6, FLAG 1
     time 36.00   tot 172.09
   [11]     qtv    move PORT_TURN   dir NORTH_EAST  loc 1022,1282  DistToNext 16.970562
    Speed 0, FLAG 1
     time  0.00   tot 172.09
   [12]     qtv    move FORWARD   dir NORTH_EAST  loc 1034,1294  DistToNext 25.455845
    Speed 4, FLAG 1
     time  7.64   tot 179.73
   [13]     qtv    move FORWARD   dir NORTH_EAST  loc 1052,1312  DistToNext 0.000000
    Speed 4, FLAG 2
     time 11.46   tot 191.19
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir SOUTH  loc 1662,-12  DistToNext 500.000000
    Speed 5, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir SOUTH  loc 1662,-512  DistToNext 0.000000
    Speed 5, FLAG 1
     time 180.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir SOUTH_WEST  loc 1792,400  DistToNext 0.000000
    Speed 3, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move STBD_TURN   dir WEST  loc 1792,400  DistToNext 70.000000
    Speed 3, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move FORWARD   dir WEST  loc 1722,400  DistToNext 0.000000
    Speed 2, FLAG 1
     time 63.00   tot 63.00
   [ 3]     qtv    move STBD_TURN   dir NORTH_WEST  loc 1722,400  DistToNext 70.710678
    Speed 2, FLAG 1
     time  0.00   tot 63.00
   [ 4]     qtv    move FORWARD   dir NORTH_WEST  loc 1672,450  DistToNext 0.000000
    Speed 2, FLAG 1
     time 63.64   tot 126.64
   [ 5]     qtv    move STBD_TURN   dir NORTH  loc 1672,450  DistToNext 0.000000
    Speed 2, FLAG 1
     time  0.00   tot 126.64
   [ 6]     qtv    move STBD_TURN   dir NORTH_EAST  loc 1672,450  DistToNext 70.710678
    Speed 0, FLAG 1
     time  0.00   tot 126.64
   [ 7]     qtv    move FORWARD   dir NORTH_EAST  loc 1722,500  DistToNext 0.000000
    Speed 3, FLAG 1
     time 42.43   tot 169.06
   [ 8]     qtv    move PORT_TURN   dir NORTH  loc 1722,500  DistToNext 12.000000
    Speed 3, FLAG 1
     time  0.00   tot 169.06
   [ 9]     qtv    move FORWARD   dir NORTH  loc 1722,512  DistToNext 45.000000
    Speed 2, FLAG 1
     time 10.80   tot 179.86
   [10]     qtv    move FORWARD   dir NORTH  loc 1722,557  DistToNext 0.000000
    Speed 2, FLAG 2
     time 40.50   tot 220.36
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir WEST  loc 1551,617  DistToNext 60.000000
    Speed 2, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir WEST  loc 1491,617  DistToNext 0.000000
    Speed 2, FLAG 1
     time 54.00   tot 54.00
   [ 2]     qtv    move PORT_TURN   dir SOUTH_WEST  loc 1491,617  DistToNext 59.396969
    Speed 0, FLAG 1
     time  0.00   tot 54.00
   [ 3]     qtv    move FORWARD   dir SOUTH_WEST  loc 1449,575  DistToNext 0.000000
    Speed 3, FLAG 1
     time 35.64   tot 89.64
   [ 4]     qtv    move PORT_TURN   dir SOUTH  loc 1449,575  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot 89.64
   [ 5]     qtv    move FORWARD   dir SOUTH  loc 1449,515  DistToNext 0.000000
    Speed 5, FLAG 1
     time 21.60   tot 111.24
   [ 6]     qtv    move PORT_TURN   dir SOUTH_EAST  loc 1449,515  DistToNext 59.396969
    Speed 0, FLAG 1
     time  0.00   tot 111.24
   [ 7]     qtv    move FORWARD   dir SOUTH_EAST  loc 1491,473  DistToNext 0.000000
    Speed 4, FLAG 1
     time 26.73   tot 137.97
   [ 8]     qtv    move PORT_TURN   dir EAST  loc 1491,473  DistToNext 116.000000
    Speed 0, FLAG 1
     time  0.00   tot 137.97
   [ 9]     qtv    move FORWARD   dir EAST  loc 1607,473  DistToNext 0.000000
    Speed 5, FLAG 1
     time 41.76   tot 179.73
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir WEST  loc 1428,136  DistToNext 50.000000
    Speed 2, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir WEST  loc 1463,101  DistToNext 50.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir NORTH_EAST  loc 1556,-199  DistToNext 0.000000
    Speed 3, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move STBD_TURN   dir EAST  loc 1556,-199  DistToNext 140.000000
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move FORWARD   dir EAST  loc 1696,-199  DistToNext 0.000000
    Speed 5, FLAG 1
     time 50.40   tot 50.40
   [ 3]     qtv    move PORT_TURN   dir NORTH_EAST  loc 1696,-199  DistToNext 70.710678
    Speed 0, FLAG 1
     time  0.00   tot 50.40
   [ 4]     qtv    move FORWARD   dir NORTH_EAST  loc 1746,-149  DistToNext 0.000000
    Speed 3, FLAG 1
     time 42.43   tot 92.83
   [ 5]     qtv    move PORT_TURN   dir NORTH  loc 1746,-149  DistToNext 70.000000
    Speed 3, FLAG 1
     time  0.00   tot 92.83
   [ 6]     qtv    move FORWARD   dir NORTH  loc 1746,-79  DistToNext 0.000000
    Speed 2, FLAG 1
     time 63.00   tot 155.83
   [ 7]     qtv    move PORT_TURN   dir NORTH_WEST  loc 1746,-79  DistToNext 0.000000
    Speed 2, FLAG 1
     time  0.00   tot 155.83
   [ 8]     qtv    move PORT_TURN   dir WEST  loc 1746,-79  DistToNext 70.000000
    Speed 0, FLAG 1
     time  0.00   tot 155.83
   [ 9]     qtv    move FORWARD   dir WEST  loc 1676,-79  DistToNext 0.000000
    Speed 2, FLAG 1
     time 63.00   tot 218.82
   [10]     qtv    move STBD_TURN   dir NORTH_WEST  loc 1676,-79  DistToNext -10.785111
    Speed 2, FLAG 1
     time  0.00   tot 218.82
   [11]     qtv    move FORWARD   dir NORTH_WEST  loc 1683,-86  DistToNext 0.000000
    Speed -1, FLAG 1
     time -38.83   tot 180.00
   [12]     qtv    move PORT_TURN   dir WEST  loc 1683,-86  DistToNext -10.785111
    Speed 0, FLAG 1
     time  0.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir NORTH  loc 1628,-582  DistToNext 0.000000
    Speed 2, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move STBD_TURN   dir NORTH_EAST  loc 1628,-582  DistToNext 59.396969
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move FORWARD   dir NORTH_EAST  loc 1670,-540  DistToNext 0.000000
    Speed 3, FLAG 1
     time 35.64   tot 35.64
   [ 3]     qtv    move STBD_TURN   dir EAST  loc 1670,-540  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot 35.64
   [ 4]     qtv    move FORWARD   dir EAST  loc 1730,-540  DistToNext 0.000000
    Speed 5, FLAG 1
     time 21.60   tot 57.24
   [ 5]     qtv    move STBD_TURN   dir SOUTH_EAST  loc 1730,-540  DistToNext 59.396969
    Speed 0, FLAG 1
     time  0.00   tot 57.24
   [ 6]     qtv    move FORWARD   dir SOUTH_EAST  loc 1772,-582  DistToNext 0.000000
    Speed 4, FLAG 1
     time 26.73   tot 83.97
   [ 7]     qtv    move STBD_TURN   dir SOUTH  loc 1772,-582  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot 83.97
   [ 8]     qtv    move FORWARD   dir SOUTH  loc 1772,-642  DistToNext 0.000000
    Speed 5, FLAG 1
     time 21.60   tot 105.57
   [ 9]     qtv    move STBD_TURN   dir SOUTH_WEST  loc 1772,-642  DistToNext 59.396969
    Speed 0, FLAG 1
     time  0.00   tot 105.57
   [10]     qtv    move FORWARD   dir SOUTH_WEST  loc 1730,-684  DistToNext 0.000000
    Speed 3, FLAG 1
     time 35.64   tot 141.20
   [11]     qtv    move STBD_TURN   dir WEST  loc 1730,-684  DistToNext 42.000000
    Speed 0, FLAG 1
     time  0.00   tot 141.20
   [12]     qtv    move FORWARD   dir WEST  loc 1688,-684  DistToNext 25.000000
    Speed 2, FLAG 1
     time 37.80   tot 179.00
   [13]     qtv    move FORWARD   dir WEST  loc 1713,-684  DistToNext 0.000000
    Speed 2, FLAG 2
     time 22.50   tot 201.50
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir NORTH_WEST  loc 1532,-670  DistToNext 50.000000
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir NORTH_WEST  loc 1567,-705  DistToNext 0.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
   [ 2]     qtv    move PORT_TURN   dir WEST  loc 1567,-705  DistToNext 50.000000
    Speed 0, FLAG 1
     time  0.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir WEST  loc 1372,1372  DistToNext 200.000000
    Speed 2, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir WEST  loc 1172,1372  DistToNext 0.000000
    Speed 2, FLAG 1
     time 180.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir NORTH_EAST  loc 1334,-366  DistToNext 0.000000
    Speed 4, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move STBD_TURN   dir EAST  loc 1334,-366  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move FORWARD   dir EAST  loc 1394,-366  DistToNext 0.000000
    Speed 6, FLAG 1
     time 18.00   tot 18.00
   [ 3]     qtv    move PORT_TURN   dir NORTH_EAST  loc 1394,-366  DistToNext 60.811184
    Speed 0, FLAG 1
     time  0.00   tot 18.00
   [ 4]     qtv    move FORWARD   dir NORTH_EAST  loc 1437,-323  DistToNext 0.000000
    Speed 4, FLAG 1
     time 27.36   tot 45.36
   [ 5]     qtv    move PORT_TURN   dir NORTH  loc 1437,-323  DistToNext 60.000000
    Speed 4, FLAG 1
     time  0.00   tot 45.36
   [ 6]     qtv    move FORWARD   dir NORTH  loc 1437,-263  DistToNext 0.000000
    Speed 2, FLAG 1
     time 54.00   tot 99.36
   [ 7]     qtv    move PORT_TURN   dir NORTH_WEST  loc 1437,-263  DistToNext 0.000000
    Speed 2, FLAG 1
     time  0.00   tot 99.36
   [ 8]     qtv    move PORT_TURN   dir WEST  loc 1437,-263  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot 99.36
   [ 9]     qtv    move FORWARD   dir WEST  loc 1377,-263  DistToNext 0.000000
    Speed 2, FLAG 1
     time 54.00   tot 153.36
   [10]     qtv    move STBD_TURN   dir NORTH_WEST  loc 1377,-263  DistToNext 7.398605
    Speed 2, FLAG 1
     time  0.00   tot 153.36
   [11]     qtv    move FORWARD   dir NORTH_WEST  loc 1382,-268  DistToNext 0.000000
    Speed -1, FLAG 1
     time 26.63   tot 180.00
   [12]     qtv    move PORT_TURN   dir WEST  loc 1382,-268  DistToNext 7.398605
    Speed 0, FLAG 1
     time  0.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir NORTH  loc 1796,10  DistToNext 0.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move STBD_TURN   dir NORTH_EAST  loc 1796,10  DistToNext 59.396969
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move FORWARD   dir NORTH_EAST  loc 1838,52  DistToNext 0.000000
    Speed 3, FLAG 1
     time 35.64   tot 35.64
   [ 3]     qtv    move STBD_TURN   dir EAST  loc 1838,52  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot 35.64
   [ 4]     qtv    move FORWARD   dir EAST  loc 1898,52  DistToNext 0.000000
    Speed 5, FLAG 1
     time 21.60   tot 57.24
   [ 5]     qtv    move STBD_TURN   dir SOUTH_EAST  loc 1898,52  DistToNext 59.396969
    Speed 0, FLAG 1
     time  0.00   tot 57.24
   [ 6]     qtv    move FORWARD   dir SOUTH_EAST  loc 1940,10  DistToNext 0.000000
    Speed 4, FLAG 1
     time 26.73   tot 83.97
   [ 7]     qtv    move STBD_TURN   dir SOUTH  loc 1940,10  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot 83.97
   [ 8]     qtv    move FORWARD   dir SOUTH  loc 1940,-50  DistToNext 0.000000
    Speed 5, FLAG 1
     time 21.60   tot 105.57
   [ 9]     qtv    move STBD_TURN   dir SOUTH_WEST  loc 1940,-50  DistToNext 59.396969
    Speed 0, FLAG 1
     time  0.00   tot 105.57
   [10]     qtv    move FORWARD   dir SOUTH_WEST  loc 1898,-92  DistToNext 0.000000
    Speed 3, FLAG 1
     time 35.64   tot 141.20
   [11]     qtv    move STBD_TURN   dir WEST  loc 1898,-92  DistToNext 21.000000
    Speed 0, FLAG 1
     time  0.00   tot 141.20
   [12]     qtv    move FORWARD   dir WEST  loc 1877,-92  DistToNext 17.000000
    Speed 1, FLAG 1
     time 37.80   tot 179.00
   [13]     qtv    move FORWARD   dir WEST  loc 1860,-92  DistToNext 0.000000
    Speed 1, FLAG 2
     time 30.60   tot 209.60
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir SOUTH_EAST  loc 1814,-662  DistToNext 0.000000
    Speed 3, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move STBD_TURN   dir SOUTH  loc 1814,-662  DistToNext 140.000000
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move FORWARD   dir SOUTH  loc 1814,-802  DistToNext 0.000000
    Speed 4, FLAG 1
     time 63.00   tot 63.00
   [ 3]     qtv    move STBD_TURN   dir SOUTH_WEST  loc 1814,-802  DistToNext 128.693436
    Speed 0, FLAG 1
     time  0.00   tot 63.00
   [ 4]     qtv    move FORWARD   dir SOUTH_WEST  loc 1723,-893  DistToNext 0.000000
    Speed 2, FLAG 1
     time 115.82   tot 178.82
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir NORTH_WEST  loc 1036,399  DistToNext 50.000000
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir NORTH_WEST  loc 1071,364  DistToNext 50.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir SOUTH_EAST  loc 1407,214  DistToNext 0.000000
    Speed 5, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move STBD_TURN   dir SOUTH  loc 1407,214  DistToNext 70.000000
    Speed 5, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move FORWARD   dir SOUTH  loc 1407,144  DistToNext 0.000000
    Speed 6, FLAG 1
     time 21.00   tot 21.00
   [ 3]     qtv    move STBD_TURN   dir SOUTH_WEST  loc 1407,144  DistToNext 70.710678
    Speed 6, FLAG 1
     time  0.00   tot 21.00
   [ 4]     qtv    move FORWARD   dir SOUTH_WEST  loc 1357,94  DistToNext 0.000000
    Speed 4, FLAG 1
     time 31.82   tot 52.82
   [ 5]     qtv    move STBD_TURN   dir WEST  loc 1357,94  DistToNext 0.000000
    Speed 4, FLAG 1
     time  0.00   tot 52.82
   [ 6]     qtv    move STBD_TURN   dir NORTH_WEST  loc 1357,94  DistToNext 70.710678
    Speed 0, FLAG 1
     time  0.00   tot 52.82
   [ 7]     qtv    move FORWARD   dir NORTH_WEST  loc 1307,144  DistToNext 0.000000
    Speed 4, FLAG 1
     time 31.82   tot 84.64
   [ 8]     qtv    move PORT_TURN   dir WEST  loc 1307,144  DistToNext 105.000000
    Speed 4, FLAG 1
     time  0.00   tot 84.64
   [ 9]     qtv    move FORWARD   dir WEST  loc 1202,144  DistToNext 0.000000
    Speed 2, FLAG 1
     time 94.50   tot 179.14
  End Path <===
* ==> Start Path
   [ 0]     qtv    move STBD_TURN   dir WEST  loc 1332,275  DistToNext 60.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move BACK_SAIL   dir WEST  loc 1272,275  DistToNext 0.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move FORWARD   dir WEST  loc 1272,275  DistToNext 0.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 3]     qtv    move PORT_TURN   dir SOUTH_WEST  loc 1272,275  DistToNext 59.396969
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 4]     qtv    move FORWARD   dir SOUTH_WEST  loc 1230,233  DistToNext 0.000000
    Speed 2, FLAG 1
     time 53.46   tot 53.46
   [ 5]     qtv    move PORT_TURN   dir SOUTH  loc 1230,233  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot 53.46
   [ 6]     qtv    move FORWARD   dir SOUTH  loc 1230,173  DistToNext 0.000000
    Speed 4, FLAG 1
     time 27.00   tot 80.46
   [ 7]     qtv    move PORT_TURN   dir SOUTH_EAST  loc 1230,173  DistToNext 31.112698
    Speed 0, FLAG 1
     time  0.00   tot 80.46
   [ 8]     qtv    move FORWARD   dir SOUTH_EAST  loc 1252,151  DistToNext 4.242640
    Speed 3, FLAG 1
     time 18.67   tot 99.12
   [ 9]     qtv    move FORWARD   dir SOUTH_EAST  loc 1249,154  DistToNext 0.000000
    Speed 3, FLAG 2
     time  2.55   tot 101.67
   [10]     qtv    move NO_DIRECTION   dir SOUTH_EAST  loc 1249,154  DistToNext 0.000000
    Speed 0, FLAG 1
     time  0.00   tot 101.67
  End Path <===
* ==> Start Path
   [ 0]     qtv    move STBD_TURN   dir NORTH  loc 1023,401  DistToNext 60.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir NORTH  loc 1023,461  DistToNext 0.000000
    Speed 1, FLAG 1
     time 108.00   tot 108.00
   [ 2]     qtv    move STBD_TURN   dir NORTH_EAST  loc 1023,461  DistToNext 59.396969
    Speed 0, FLAG 1
     time  0.00   tot 108.00
   [ 3]     qtv    move FORWARD   dir NORTH_EAST  loc 1065,503  DistToNext 0.000000
    Speed 3, FLAG 1
     time 35.64   tot 143.64
   [ 4]     qtv    move STBD_TURN   dir EAST  loc 1065,503  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot 143.64
   [ 5]     qtv    move FORWARD   dir EAST  loc 1125,503  DistToNext 0.000000
    Speed 5, FLAG 1
     time 21.60   tot 165.24
   [ 6]     qtv    move STBD_TURN   dir SOUTH_EAST  loc 1125,503  DistToNext 31.112698
    Speed 0, FLAG 1
     time  0.00   tot 165.24
   [ 7]     qtv    move FORWARD   dir SOUTH_EAST  loc 1147,481  DistToNext 4.242640
    Speed 4, FLAG 1
     time 14.00   tot 179.24
   [ 8]     qtv    move FORWARD   dir SOUTH_EAST  loc 1144,484  DistToNext 0.000000
    Speed 4, FLAG 2
     time  1.91   tot 181.15
  End Path <===
* ==> Start Path
   [ 0]     qtv    move PORT_TURN   dir NORTH_EAST  loc 1382,698  DistToNext 69.296463
    Speed 2, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir NORTH_EAST  loc 1431,747  DistToNext 0.000000
    Speed 2, FLAG 1
     time 62.37   tot 62.37
   [ 2]     qtv    move STBD_TURN   dir EAST  loc 1431,747  DistToNext 195.000000
    Speed 0, FLAG 1
     time  0.00   tot 62.37
   [ 3]     qtv    move FORWARD   dir EAST  loc 1626,747  DistToNext 41.000000
    Speed 3, FLAG 1
     time 117.00   tot 179.37
   [ 4]     qtv    move FORWARD   dir EAST  loc 1585,747  DistToNext 0.000000
    Speed 3, FLAG 2
     time 24.60   tot 203.97
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir NORTH  loc 658,698  DistToNext 120.000000
    Speed 2, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir NORTH  loc 658,818  DistToNext 0.000000
    Speed 2, FLAG 1
     time 108.00   tot 108.00
   [ 2]     qtv    move STBD_TURN   dir NORTH_EAST  loc 658,818  DistToNext 118.793938
    Speed 0, FLAG 1
     time  0.00   tot 108.00
   [ 3]     qtv    move FORWARD   dir NORTH_EAST  loc 742,902  DistToNext 0.000000
    Speed 4, FLAG 1
     time 53.46   tot 161.46
   [ 4]     qtv    move STBD_TURN   dir EAST  loc 742,902  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot 161.46
   [ 5]     qtv    move FORWARD   dir EAST  loc 802,902  DistToNext 0.000000
    Speed 6, FLAG 1
     time 18.00   tot 179.46
  End Path <===
* ==> Start Path
   [ 0]     qtv    move NO_DIRECTION   dir NORTH  loc 739,849  DistToNext 100.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move BACK_SAIL   dir NORTH  loc 739,949  DistToNext 21.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move FORWARD   dir NORTH  loc 739,949  DistToNext 21.000000
    Speed 1, FLAG 1
     time 37.80   tot 37.80
   [ 3]     qtv    move FORWARD   dir NORTH  loc 739,928  DistToNext 0.000000
    Speed 1, FLAG 2
     time 37.80   tot 75.60
   [ 4]     qtv    move NO_DIRECTION   dir NORTH  loc 739,928  DistToNext 0.000000
    Speed 0, FLAG 1
     time  0.00   tot 75.60
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir NORTH_EAST  loc 884,1176  DistToNext 0.000000
    Speed 4, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move PORT_TURN   dir NORTH  loc 884,1176  DistToNext 60.000000
    Speed 4, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move FORWARD   dir NORTH  loc 884,1236  DistToNext 0.000000
    Speed 2, FLAG 1
     time 54.00   tot 54.00
   [ 3]     qtv    move PORT_TURN   dir NORTH_WEST  loc 884,1236  DistToNext 60.811184
    Speed 2, FLAG 1
     time  0.00   tot 54.00
   [ 4]     qtv    move FORWARD   dir NORTH_WEST  loc 841,1279  DistToNext 0.000000
    Speed 2, FLAG 1
     time 54.73   tot 108.73
   [ 5]     qtv    move PORT_TURN   dir WEST  loc 841,1279  DistToNext 0.000000
    Speed 2, FLAG 1
     time  0.00   tot 108.73
   [ 6]     qtv    move PORT_TURN   dir SOUTH_WEST  loc 841,1279  DistToNext 60.811184
    Speed 0, FLAG 1
     time  0.00   tot 108.73
   [ 7]     qtv    move FORWARD   dir SOUTH_WEST  loc 798,1236  DistToNext 0.000000
    Speed 4, FLAG 1
     time 27.36   tot 136.09
   [ 8]     qtv    move PORT_TURN   dir SOUTH  loc 798,1236  DistToNext 120.000000
    Speed 4, FLAG 1
     time  0.00   tot 136.09
   [ 9]     qtv    move FORWARD   dir SOUTH  loc 798,1116  DistToNext 0.000000
    Speed 6, FLAG 1
     time 36.00   tot 172.09
   [10]     qtv    move STBD_TURN   dir SOUTH_WEST  loc 798,1116  DistToNext 60.811184
    Speed 0, FLAG 1
     time  0.00   tot 172.09
   [11]     qtv    move FORWARD   dir SOUTH_WEST  loc 755,1073  DistToNext 0.000000
    Speed 4, FLAG 1
     time 27.36   tot 199.46
   [12]     qtv    move STBD_TURN   dir WEST  loc 755,1073  DistToNext 60.000000
    Speed 4, FLAG 1
     time  0.00   tot 199.46
   [13]     qtv    move FORWARD   dir WEST  loc 695,1073  DistToNext 0.000000
    Speed 2, FLAG 1
     time 54.00   tot 253.46
   [14]     qtv    move STBD_TURN   dir NORTH_WEST  loc 695,1073  DistToNext 0.000000
    Speed 2, FLAG 1
     time  0.00   tot 253.46
   [15]     qtv    move STBD_TURN   dir NORTH  loc 695,1073  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot 253.46
   [16]     qtv    move FORWARD   dir NORTH  loc 695,1133  DistToNext 0.000000
    Speed 2, FLAG 1
     time 54.00   tot 307.46
   [17]     qtv    move STBD_TURN   dir NORTH_EAST  loc 695,1133  DistToNext 16.970562
    Speed 2, FLAG 1
     time  0.00   tot 307.46
   [18]     qtv    move FORWARD   dir NORTH_EAST  loc 707,1145  DistToNext 25.455845
    Speed 4, FLAG 1
     time  7.64   tot 315.09
   [19]     qtv    move FORWARD   dir NORTH_EAST  loc 725,1163  DistToNext 0.000000
    Speed 4, FLAG 2
     time 11.46   tot 326.55
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir SOUTH_WEST  loc 1017,562  DistToNext 0.000000
    Speed 4, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move STBD_TURN   dir WEST  loc 1017,562  DistToNext 60.000000
    Speed 4, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move FORWARD   dir WEST  loc 957,562  DistToNext 0.000000
    Speed 2, FLAG 1
     time 54.00   tot 54.00
   [ 3]     qtv    move STBD_TURN   dir NORTH_WEST  loc 957,562  DistToNext 60.811184
    Speed 2, FLAG 1
     time  0.00   tot 54.00
   [ 4]     qtv    move FORWARD   dir NORTH_WEST  loc 914,605  DistToNext 0.000000
    Speed 2, FLAG 1
     time 54.73   tot 108.73
   [ 5]     qtv    move STBD_TURN   dir NORTH  loc 914,605  DistToNext 0.000000
    Speed 2, FLAG 1
     time  0.00   tot 108.73
   [ 6]     qtv    move STBD_TURN   dir NORTH_EAST  loc 914,605  DistToNext 156.977707
    Speed 0, FLAG 1
     time  0.00   tot 108.73
   [ 7]     qtv    move FORWARD   dir NORTH_EAST  loc 1025,716  DistToNext 0.000000
    Speed 4, FLAG 1
     time 70.64   tot 179.37
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir EAST  loc 964,1428  DistToNext 120.000000
    Speed 5, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir EAST  loc 1084,1428  DistToNext 0.000000
    Speed 5, FLAG 1
     time 43.20   tot 43.20
   [ 2]     qtv    move PORT_TURN   dir NORTH_EAST  loc 1084,1428  DistToNext 60.811184
    Speed 0, FLAG 1
     time  0.00   tot 43.20
   [ 3]     qtv    move FORWARD   dir NORTH_EAST  loc 1127,1471  DistToNext 0.000000
    Speed 3, FLAG 1
     time 36.49   tot 79.69
   [ 4]     qtv    move PORT_TURN   dir NORTH  loc 1127,1471  DistToNext 60.000000
    Speed 3, FLAG 1
     time  0.00   tot 79.69
   [ 5]     qtv    move FORWARD   dir NORTH  loc 1127,1531  DistToNext 0.000000
    Speed 2, FLAG 1
     time 54.00   tot 133.69
   [ 6]     qtv    move PORT_TURN   dir NORTH_WEST  loc 1127,1531  DistToNext 0.000000
    Speed 2, FLAG 1
     time  0.00   tot 133.69
   [ 7]     qtv    move PORT_TURN   dir WEST  loc 1127,1531  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot 133.69
   [ 8]     qtv    move FORWARD   dir WEST  loc 1067,1531  DistToNext 0.000000
    Speed 2, FLAG 1
     time 54.00   tot 187.69
   [ 9]     qtv    move STBD_TURN   dir NORTH_WEST  loc 1067,1531  DistToNext -2.135196
    Speed 2, FLAG 1
     time  0.00   tot 187.69
   [10]     qtv    move FORWARD   dir NORTH_WEST  loc 1068,1530  DistToNext 0.000000
    Speed -1, FLAG 1
     time -7.69   tot 180.00
   [11]     qtv    move PORT_TURN   dir WEST  loc 1068,1530  DistToNext -2.135196
    Speed 0, FLAG 1
     time  0.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir NORTH_EAST  loc 774,1416  DistToNext 0.000000
    Speed 4, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move STBD_TURN   dir EAST  loc 774,1416  DistToNext 120.000000
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move FORWARD   dir EAST  loc 894,1416  DistToNext 0.000000
    Speed 5, FLAG 1
     time 43.20   tot 43.20
   [ 3]     qtv    move PORT_TURN   dir NORTH_EAST  loc 894,1416  DistToNext 60.811184
    Speed 0, FLAG 1
     time  0.00   tot 43.20
   [ 4]     qtv    move FORWARD   dir NORTH_EAST  loc 937,1459  DistToNext 0.000000
    Speed 4, FLAG 1
     time 27.36   tot 70.56
   [ 5]     qtv    move PORT_TURN   dir NORTH  loc 937,1459  DistToNext 60.000000
    Speed 4, FLAG 1
     time  0.00   tot 70.56
   [ 6]     qtv    move FORWARD   dir NORTH  loc 937,1519  DistToNext 0.000000
    Speed 2, FLAG 1
     time 54.00   tot 124.56
   [ 7]     qtv    move PORT_TURN   dir NORTH_WEST  loc 937,1519  DistToNext 0.000000
    Speed 2, FLAG 1
     time  0.00   tot 124.56
   [ 8]     qtv    move PORT_TURN   dir WEST  loc 937,1519  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot 124.56
   [ 9]     qtv    move FORWARD   dir WEST  loc 877,1519  DistToNext 0.000000
    Speed 2, FLAG 1
     time 54.00   tot 178.56
   [10]     qtv    move STBD_TURN   dir NORTH_WEST  loc 877,1519  DistToNext 0.398602
    Speed 2, FLAG 1
     time  0.00   tot 178.56
   [11]     qtv    move FORWARD   dir NORTH_WEST  loc 877,1519  DistToNext 0.000000
    Speed -1, FLAG 1
     time  1.43   tot 180.00
   [12]     qtv    move PORT_TURN   dir WEST  loc 877,1519  DistToNext 0.398602
    Speed 0, FLAG 1
     time  0.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir NORTH_EAST  loc 1034,1294  DistToNext 0.000000
    Speed 4, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move PORT_TURN   dir NORTH  loc 1034,1294  DistToNext 120.000000
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move FORWARD   dir NORTH  loc 1034,1414  DistToNext 0.000000
    Speed 2, FLAG 1
     time 108.00   tot 108.00
   [ 3]     qtv    move STBD_TURN   dir NORTH_EAST  loc 1034,1414  DistToNext 59.396969
    Speed 0, FLAG 1
     time  0.00   tot 108.00
   [ 4]     qtv    move FORWARD   dir NORTH_EAST  loc 1076,1456  DistToNext 0.000000
    Speed 4, FLAG 1
     time 26.73   tot 134.73
   [ 5]     qtv    move STBD_TURN   dir EAST  loc 1076,1456  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot 134.73
   [ 6]     qtv    move FORWARD   dir EAST  loc 1136,1456  DistToNext 0.000000
    Speed 6, FLAG 1
     time 18.00   tot 152.73
   [ 7]     qtv    move STBD_TURN   dir SOUTH_EAST  loc 1136,1456  DistToNext 59.396969
    Speed 0, FLAG 1
     time  0.00   tot 152.73
   [ 8]     qtv    move FORWARD   dir SOUTH_EAST  loc 1178,1414  DistToNext 0.000000
    Speed 5, FLAG 1
     time 21.38   tot 174.11
   [ 9]     qtv    move STBD_TURN   dir SOUTH  loc 1178,1414  DistToNext 19.000000
    Speed 0, FLAG 1
     time  0.00   tot 174.11
   [10]     qtv    move FORWARD   dir SOUTH  loc 1178,1395  DistToNext 21.000000
    Speed 6, FLAG 1
     time  5.70   tot 179.81
   [11]     qtv    move FORWARD   dir SOUTH  loc 1178,1374  DistToNext 0.000000
    Speed 6, FLAG 2
     time  6.30   tot 186.11
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir SOUTH  loc 1662,-512  DistToNext 0.000000
    Speed 5, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move STBD_TURN   dir SOUTH_WEST  loc 1662,-512  DistToNext 60.811184
    Speed 5, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move FORWARD   dir SOUTH_WEST  loc 1619,-555  DistToNext 0.000000
    Speed 3, FLAG 1
     time 36.49   tot 36.49
   [ 3]     qtv    move STBD_TURN   dir WEST  loc 1619,-555  DistToNext 60.000000
    Speed 3, FLAG 1
     time  0.00   tot 36.49
   [ 4]     qtv    move FORWARD   dir WEST  loc 1559,-555  DistToNext 0.000000
    Speed 2, FLAG 1
     time 54.00   tot 90.49
   [ 5]     qtv    move STBD_TURN   dir NORTH_WEST  loc 1559,-555  DistToNext 0.000000
    Speed 2, FLAG 1
     time  0.00   tot 90.49
   [ 6]     qtv    move STBD_TURN   dir NORTH  loc 1559,-555  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot 90.49
   [ 7]     qtv    move FORWARD   dir NORTH  loc 1559,-495  DistToNext 0.000000
    Speed 2, FLAG 1
     time 54.00   tot 144.49
   [ 8]     qtv    move STBD_TURN   dir NORTH_EAST  loc 1559,-495  DistToNext 57.982758
    Speed 2, FLAG 1
     time  0.00   tot 144.49
   [ 9]     qtv    move FORWARD   dir NORTH_EAST  loc 1600,-454  DistToNext 57.982758
    Speed 3, FLAG 1
     time 34.79   tot 179.27
   [10]     qtv    move FORWARD   dir NORTH_EAST  loc 1559,-495  DistToNext 0.000000
    Speed 3, FLAG 2
     time 34.79   tot 214.06
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir NORTH  loc 1722,512  DistToNext 0.000000
    Speed 2, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move STBD_TURN   dir NORTH_EAST  loc 1722,512  DistToNext 0.000000
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move PORT_TURN   dir NORTH  loc 1722,512  DistToNext 70.000000
    Speed 2, FLAG 1
     time  0.00   tot  0.00
   [ 3]     qtv    move FORWARD   dir NORTH  loc 1722,582  DistToNext 0.000000
    Speed 2, FLAG 1
     time 63.00   tot 63.00
   [ 4]     qtv    move PORT_TURN   dir NORTH_WEST  loc 1722,582  DistToNext 70.710678
    Speed 2, FLAG 1
     time  0.00   tot 63.00
   [ 5]     qtv    move FORWARD   dir NORTH_WEST  loc 1672,632  DistToNext 0.000000
    Speed 2, FLAG 1
     time 63.64   tot 126.64
   [ 6]     qtv    move PORT_TURN   dir WEST  loc 1672,632  DistToNext 0.000000
    Speed 2, FLAG 1
     time  0.00   tot 126.64
   [ 7]     qtv    move PORT_TURN   dir SOUTH_WEST  loc 1672,632  DistToNext 70.710678
    Speed 0, FLAG 1
     time  0.00   tot 126.64
   [ 8]     qtv    move FORWARD   dir SOUTH_WEST  loc 1622,582  DistToNext 0.000000
    Speed 3, FLAG 1
     time 42.43   tot 169.06
   [ 9]     qtv    move PORT_TURN   dir SOUTH  loc 1622,582  DistToNext 30.000000
    Speed 3, FLAG 1
     time  0.00   tot 169.06
   [10]     qtv    move FORWARD   dir SOUTH  loc 1622,552  DistToNext 9.000000
    Speed 5, FLAG 1
     time 10.80   tot 179.86
   [11]     qtv    move FORWARD   dir SOUTH  loc 1622,543  DistToNext 0.000000
    Speed 5, FLAG 2
     time  3.24   tot 183.10
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir EAST  loc 1607,473  DistToNext 0.000000
    Speed 5, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move BACK_SAIL   dir NORTH_EAST  loc 1607,473  DistToNext 59.396969
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move PORT_TURN   dir NORTH_EAST  loc 1607,473  DistToNext 59.396969
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 3]     qtv    move FORWARD   dir NORTH_EAST  loc 1649,515  DistToNext 0.000000
    Speed 2, FLAG 1
     time 53.46   tot 53.46
   [ 4]     qtv    move PORT_TURN   dir NORTH  loc 1649,515  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot 53.46
   [ 5]     qtv    move FORWARD   dir NORTH  loc 1649,575  DistToNext 0.000000
    Speed 1, FLAG 1
     time 108.00   tot 161.46
   [ 6]     qtv    move STBD_TURN   dir NORTH_EAST  loc 1649,575  DistToNext 57.982758
    Speed 0, FLAG 1
     time  0.00   tot 161.46
   [ 7]     qtv    move FORWARD   dir NORTH_EAST  loc 1690,616  DistToNext 56.568542
    Speed 3, FLAG 1
     time 34.79   tot 196.25
   [ 8]     qtv    move FORWARD   dir NORTH_EAST  loc 1650,576  DistToNext 0.000000
    Speed 3, FLAG 2
     time 33.94   tot 230.19
   [ 9]     qtv    move NO_DIRECTION   dir NORTH_EAST  loc 1650,576  DistToNext 59.396969
    Speed 0, FLAG 1
     time  0.00   tot 230.19
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir WEST  loc 1373,191  DistToNext 50.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir WEST  loc 1408,156  DistToNext 0.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
   [ 2]     qtv    move PORT_TURN   dir SOUTH_WEST  loc 1408,156  DistToNext 50.000000
    Speed 0, FLAG 1
     time  0.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move PORT_TURN   dir WEST  loc 1683,-86  DistToNext 200.000000
    Speed 2, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir WEST  loc 1483,-86  DistToNext 0.000000
    Speed 2, FLAG 1
     time 180.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir WEST  loc 1688,-684  DistToNext 0.000000
    Speed 2, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move PORT_TURN   dir SOUTH_WEST  loc 1688,-684  DistToNext 0.000000
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move STBD_TURN   dir WEST  loc 1688,-684  DistToNext 60.000000
    Speed 2, FLAG 1
     time  0.00   tot  0.00
   [ 3]     qtv    move FORWARD   dir WEST  loc 1628,-684  DistToNext 0.000000
    Speed 2, FLAG 1
     time 54.00   tot 54.00
   [ 4]     qtv    move STBD_TURN   dir NORTH_WEST  loc 1628,-684  DistToNext 60.811184
    Speed 2, FLAG 1
     time  0.00   tot 54.00
   [ 5]     qtv    move FORWARD   dir NORTH_WEST  loc 1585,-641  DistToNext 0.000000
    Speed 2, FLAG 1
     time 54.73   tot 108.73
   [ 6]     qtv    move STBD_TURN   dir NORTH  loc 1585,-641  DistToNext 0.000000
    Speed 2, FLAG 1
     time  0.00   tot 108.73
   [ 7]     qtv    move STBD_TURN   dir NORTH_EAST  loc 1585,-641  DistToNext 60.811184
    Speed 0, FLAG 1
     time  0.00   tot 108.73
   [ 8]     qtv    move FORWARD   dir NORTH_EAST  loc 1628,-598  DistToNext 0.000000
    Speed 3, FLAG 1
     time 36.49   tot 145.22
   [ 9]     qtv    move PORT_TURN   dir NORTH  loc 1628,-598  DistToNext 38.000000
    Speed 3, FLAG 1
     time  0.00   tot 145.22
   [10]     qtv    move FORWARD   dir NORTH  loc 1628,-560  DistToNext 17.000000
    Speed 2, FLAG 1
     time 34.20   tot 179.42
   [11]     qtv    move FORWARD   dir NORTH  loc 1628,-577  DistToNext 0.000000
    Speed 2, FLAG 2
     time 15.30   tot 194.72
  End Path <===
* ==> Start Path
   [ 0]     qtv    move PORT_TURN   dir WEST  loc 1567,-705  DistToNext 60.000000
    Speed 2, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir WEST  loc 1507,-705  DistToNext 0.000000
    Speed 2, FLAG 1
     time 54.00   tot 54.00
   [ 2]     qtv    move PORT_TURN   dir SOUTH_WEST  loc 1507,-705  DistToNext 59.396969
    Speed 0, FLAG 1
     time  0.00   tot 54.00
   [ 3]     qtv    move FORWARD   dir SOUTH_WEST  loc 1465,-747  DistToNext 0.000000
    Speed 3, FLAG 1
     time 35.64   tot 89.64
   [ 4]     qtv    move PORT_TURN   dir SOUTH  loc 1465,-747  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot 89.64
   [ 5]     qtv    move FORWARD   dir SOUTH  loc 1465,-807  DistToNext 0.000000
    Speed 5, FLAG 1
     time 21.60   tot 111.24
   [ 6]     qtv    move PORT_TURN   dir SOUTH_EAST  loc 1465,-807  DistToNext 59.396969
    Speed 0, FLAG 1
     time  0.00   tot 111.24
   [ 7]     qtv    move FORWARD   dir SOUTH_EAST  loc 1507,-849  DistToNext 0.000000
    Speed 4, FLAG 1
     time 26.73   tot 137.97
   [ 8]     qtv    move PORT_TURN   dir EAST  loc 1507,-849  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot 137.97
   [ 9]     qtv    move FORWARD   dir EAST  loc 1567,-849  DistToNext 0.000000
    Speed 5, FLAG 1
     time 21.60   tot 159.57
   [10]     qtv    move PORT_TURN   dir NORTH_EAST  loc 1567,-849  DistToNext 32.526913
    Speed 0, FLAG 1
     time  0.00   tot 159.57
   [11]     qtv    move FORWARD   dir NORTH_EAST  loc 1590,-826  DistToNext 5.656854
    Speed 3, FLAG 1
     time 19.52   tot 179.08
   [12]     qtv    move FORWARD   dir NORTH_EAST  loc 1586,-830  DistToNext 0.000000
    Speed 3, FLAG 2
     time  3.39   tot 182.48
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir WEST  loc 1172,1372  DistToNext 200.000000
    Speed 2, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move BACK_SAIL   dir WEST  loc 972,1372  DistToNext 0.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move FORWARD   dir WEST  loc 972,1372  DistToNext 0.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 3]     qtv    move NO_DIRECTION   dir WEST  loc 972,1372  DistToNext 0.000000
    Speed 0, FLAG 1
     time  0.00   tot  0.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move PORT_TURN   dir WEST  loc 1382,-268  DistToNext 60.000000
    Speed 2, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir WEST  loc 1322,-268  DistToNext 0.000000
    Speed 2, FLAG 1
     time 54.00   tot 54.00
   [ 2]     qtv    move PORT_TURN   dir SOUTH_WEST  loc 1322,-268  DistToNext 59.396969
    Speed 0, FLAG 1
     time  0.00   tot 54.00
   [ 3]     qtv    move FORWARD   dir SOUTH_WEST  loc 1280,-310  DistToNext 0.000000
    Speed 4, FLAG 1
     time 26.73   tot 80.73
   [ 4]     qtv    move PORT_TURN   dir SOUTH  loc 1280,-310  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot 80.73
   [ 5]     qtv    move FORWARD   dir SOUTH  loc 1280,-370  DistToNext 0.000000
    Speed 6, FLAG 1
     time 18.00   tot 98.73
   [ 6]     qtv    move PORT_TURN   dir SOUTH_EAST  loc 1280,-370  DistToNext 59.396969
    Speed 0, FLAG 1
     time  0.00   tot 98.73
   [ 7]     qtv    move FORWARD   dir SOUTH_EAST  loc 1322,-412  DistToNext 0.000000
    Speed 5, FLAG 1
     time 21.38   tot 120.11
   [ 8]     qtv    move PORT_TURN   dir EAST  loc 1322,-412  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot 120.11
   [ 9]     qtv    move FORWARD   dir EAST  loc 1382,-412  DistToNext 0.000000
    Speed 6, FLAG 1
     time 18.00   tot 138.11
   [10]     qtv    move PORT_TURN   dir NORTH_EAST  loc 1382,-412  DistToNext 59.396969
    Speed 0, FLAG 1
     time  0.00   tot 138.11
   [11]     qtv    move FORWARD   dir NORTH_EAST  loc 1424,-370  DistToNext 0.000000
    Speed 4, FLAG 1
     time 26.73   tot 164.84
   [12]     qtv    move PORT_TURN   dir NORTH  loc 1424,-370  DistToNext 16.000000
    Speed 0, FLAG 1
     time  0.00   tot 164.84
   [13]     qtv    move FORWARD   dir NORTH  loc 1424,-354  DistToNext 27.000000
    Speed 2, FLAG 1
     time 14.40   tot 179.24
   [14]     qtv    move FORWARD   dir NORTH  loc 1424,-327  DistToNext 0.000000
    Speed 2, FLAG 2
     time 24.30   tot 203.54
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir WEST  loc 1877,-92  DistToNext 100.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir WEST  loc 1777,-92  DistToNext 0.000000
    Speed 1, FLAG 1
     time 180.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir SOUTH_WEST  loc 1723,-893  DistToNext 0.000000
    Speed 2, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move STBD_TURN   dir WEST  loc 1723,-893  DistToNext 100.000000
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move FORWARD   dir WEST  loc 1623,-893  DistToNext 0.000000
    Speed 1, FLAG 1
     time 180.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir NORTH_WEST  loc 1070,365  DistToNext 50.000000
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir NORTH_WEST  loc 1105,330  DistToNext 50.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir SOUTH  loc 1441,180  DistToNext 0.000000
    Speed 6, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move PORT_TURN   dir SOUTH_EAST  loc 1441,180  DistToNext 69.296463
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move FORWARD   dir SOUTH_EAST  loc 1490,131  DistToNext 0.000000
    Speed 5, FLAG 1
     time 24.95   tot 24.95
   [ 3]     qtv    move PORT_TURN   dir EAST  loc 1490,131  DistToNext 140.000000
    Speed 0, FLAG 1
     time  0.00   tot 24.95
   [ 4]     qtv    move FORWARD   dir EAST  loc 1630,131  DistToNext 0.000000
    Speed 6, FLAG 1
     time 42.00   tot 66.95
   [ 5]     qtv    move PORT_TURN   dir NORTH_EAST  loc 1630,131  DistToNext 70.710678
    Speed 0, FLAG 1
     time  0.00   tot 66.95
   [ 6]     qtv    move FORWARD   dir NORTH_EAST  loc 1680,181  DistToNext 0.000000
    Speed 4, FLAG 1
     time 31.82   tot 98.77
   [ 7]     qtv    move PORT_TURN   dir NORTH  loc 1680,181  DistToNext 70.000000
    Speed 4, FLAG 1
     time  0.00   tot 98.77
   [ 8]     qtv    move FORWARD   dir NORTH  loc 1680,251  DistToNext 0.000000
    Speed 2, FLAG 1
     time 63.00   tot 161.77
   [ 9]     qtv    move PORT_TURN   dir NORTH_WEST  loc 1680,251  DistToNext 0.000000
    Speed 2, FLAG 1
     time  0.00   tot 161.77
   [10]     qtv    move PORT_TURN   dir WEST  loc 1680,251  DistToNext 70.000000
    Speed 0, FLAG 1
     time  0.00   tot 161.77
   [11]     qtv    move FORWARD   dir WEST  loc 1610,251  DistToNext 0.000000
    Speed 2, FLAG 1
     time 63.00   tot 224.76
   [12]     qtv    move STBD_TURN   dir NORTH_WEST  loc 1610,251  DistToNext -12.435145
    Speed 2, FLAG 1
     time  0.00   tot 224.76
   [13]     qtv    move FORWARD   dir NORTH_WEST  loc 1618,243  DistToNext 0.000000
    Speed -1, FLAG 1
     time -44.77   tot 180.00
   [14]     qtv    move STBD_TURN   dir NORTH  loc 1618,243  DistToNext -12.435145
    Speed 0, FLAG 1
     time  0.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move STBD_TURN   dir SOUTH  loc 1252,151  DistToNext 60.000000
    Speed 4, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir SOUTH  loc 1252,91  DistToNext 0.000000
    Speed 4, FLAG 1
     time 27.00   tot 27.00
   [ 2]     qtv    move PORT_TURN   dir SOUTH_EAST  loc 1252,91  DistToNext 59.396969
    Speed 0, FLAG 1
     time  0.00   tot 27.00
   [ 3]     qtv    move FORWARD   dir SOUTH_EAST  loc 1294,49  DistToNext 0.000000
    Speed 3, FLAG 1
     time 35.64   tot 62.64
   [ 4]     qtv    move PORT_TURN   dir EAST  loc 1294,49  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot 62.64
   [ 5]     qtv    move FORWARD   dir EAST  loc 1354,49  DistToNext 0.000000
    Speed 4, FLAG 1
     time 27.00   tot 89.64
   [ 6]     qtv    move PORT_TURN   dir NORTH_EAST  loc 1354,49  DistToNext 98.994949
    Speed 0, FLAG 1
     time  0.00   tot 89.64
   [ 7]     qtv    move FORWARD   dir NORTH_EAST  loc 1424,119  DistToNext 19.798990
    Speed 2, FLAG 1
     time 89.09   tot 178.73
   [ 8]     qtv    move FORWARD   dir NORTH_EAST  loc 1410,105  DistToNext 0.000000
    Speed 2, FLAG 2
     time 17.82   tot 196.55
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir NORTH  loc 967,457  DistToNext 0.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move STBD_TURN   dir NORTH_EAST  loc 967,457  DistToNext 59.396969
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move FORWARD   dir NORTH_EAST  loc 1009,499  DistToNext 0.000000
    Speed 3, FLAG 1
     time 35.64   tot 35.64
   [ 3]     qtv    move STBD_TURN   dir EAST  loc 1009,499  DistToNext 400.000000
    Speed 0, FLAG 1
     time  0.00   tot 35.64
   [ 4]     qtv    move FORWARD   dir EAST  loc 1409,499  DistToNext 21.000000
    Speed 5, FLAG 1
     time 144.00   tot 179.64
   [ 5]     qtv    move FORWARD   dir EAST  loc 1388,499  DistToNext 0.000000
    Speed 5, FLAG 2
     time  7.56   tot 187.20
  End Path <===
* ==> Start Path
   [ 0]     qtv    move PORT_TURN   dir EAST  loc 1626,747  DistToNext 70.000000
    Speed 3, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir EAST  loc 1696,747  DistToNext 0.000000
    Speed 3, FLAG 1
     time 42.00   tot 42.00
   [ 2]     qtv    move STBD_TURN   dir SOUTH_EAST  loc 1696,747  DistToNext 69.296463
    Speed 0, FLAG 1
     time  0.00   tot 42.00
   [ 3]     qtv    move FORWARD   dir SOUTH_EAST  loc 1745,698  DistToNext 0.000000
    Speed 3, FLAG 1
     time 41.58   tot 83.58
   [ 4]     qtv    move STBD_TURN   dir SOUTH  loc 1745,698  DistToNext 70.000000
    Speed 0, FLAG 1
     time  0.00   tot 83.58
   [ 5]     qtv    move FORWARD   dir SOUTH  loc 1745,628  DistToNext 0.000000
    Speed 3, FLAG 1
     time 42.00   tot 125.58
   [ 6]     qtv    move STBD_TURN   dir SOUTH_WEST  loc 1745,628  DistToNext 59.396969
    Speed 0, FLAG 1
     time  0.00   tot 125.58
   [ 7]     qtv    move FORWARD   dir SOUTH_WEST  loc 1703,586  DistToNext 49.497475
    Speed 2, FLAG 1
     time 53.46   tot 179.03
   [ 8]     qtv    move FORWARD   dir SOUTH_WEST  loc 1738,621  DistToNext 0.000000
    Speed 2, FLAG 2
     time 44.55   tot 223.58
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir NORTH_EAST  loc 734,882  DistToNext 0.000000
    Speed 4, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move PORT_TURN   dir NORTH  loc 734,882  DistToNext 60.000000
    Speed 4, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move FORWARD   dir NORTH  loc 734,942  DistToNext 0.000000
    Speed 2, FLAG 1
     time 54.00   tot 54.00
   [ 3]     qtv    move PORT_TURN   dir NORTH_WEST  loc 734,942  DistToNext 60.811184
    Speed 2, FLAG 1
     time  0.00   tot 54.00
   [ 4]     qtv    move FORWARD   dir NORTH_WEST  loc 691,985  DistToNext 0.000000
    Speed 2, FLAG 1
     time 54.73   tot 108.73
   [ 5]     qtv    move PORT_TURN   dir WEST  loc 691,985  DistToNext 0.000000
    Speed 2, FLAG 1
     time  0.00   tot 108.73
   [ 6]     qtv    move PORT_TURN   dir SOUTH_WEST  loc 691,985  DistToNext 60.811184
    Speed 0, FLAG 1
     time  0.00   tot 108.73
   [ 7]     qtv    move FORWARD   dir SOUTH_WEST  loc 648,942  DistToNext 0.000000
    Speed 4, FLAG 1
     time 27.36   tot 136.09
   [ 8]     qtv    move STBD_TURN   dir WEST  loc 648,942  DistToNext 48.000000
    Speed 4, FLAG 1
     time  0.00   tot 136.09
   [ 9]     qtv    move FORWARD   dir WEST  loc 600,942  DistToNext 37.000000
    Speed 2, FLAG 1
     time 43.20   tot 179.29
   [10]     qtv    move FORWARD   dir WEST  loc 637,942  DistToNext 0.000000
    Speed 2, FLAG 2
     time 33.30   tot 212.59
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir NORTH  loc 653,1019  DistToNext 100.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir NORTH  loc 653,1119  DistToNext 0.000000
    Speed 1, FLAG 1
     time 180.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir SOUTH_WEST  loc 707,1145  DistToNext 0.000000
    Speed 4, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move STBD_TURN   dir WEST  loc 707,1145  DistToNext 120.000000
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move FORWARD   dir WEST  loc 587,1145  DistToNext 0.000000
    Speed 2, FLAG 1
     time 108.00   tot 108.00
   [ 3]     qtv    move STBD_TURN   dir NORTH_WEST  loc 587,1145  DistToNext 60.811184
    Speed 0, FLAG 1
     time  0.00   tot 108.00
   [ 4]     qtv    move FORWARD   dir NORTH_WEST  loc 544,1188  DistToNext 0.000000
    Speed 0, FLAG 1
     time   inf   tot   inf
   [ 5]     qtv    move STBD_TURN   dir NORTH  loc 544,1188  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot   inf
   [ 6]     qtv    move FORWARD   dir NORTH  loc 544,1248  DistToNext 0.000000
    Speed 2, FLAG 1
     time 54.00   tot   inf
   [ 7]     qtv    move STBD_TURN   dir NORTH_EAST  loc 544,1248  DistToNext 0.000000
    Speed 2, FLAG 1
     time  0.00   tot   inf
   [ 8]     qtv    move STBD_TURN   dir EAST  loc 544,1248  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot   inf
   [ 9]     qtv    move FORWARD   dir EAST  loc 604,1248  DistToNext 0.000000
    Speed 6, FLAG 1
     time 18.00   tot   inf
   [10]     qtv    move STBD_TURN   dir SOUTH_EAST  loc 604,1248  DistToNext 118.793938
    Speed 6, FLAG 1
     time  0.00   tot   inf
   [11]     qtv    move FORWARD   dir SOUTH_EAST  loc 688,1164  DistToNext 0.000000
    Speed 5, FLAG 1
     time 42.77   tot   inf
   [12]     qtv    move STBD_TURN   dir SOUTH  loc 688,1164  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot   inf
   [13]     qtv    move FORWARD   dir SOUTH  loc 688,1104  DistToNext 0.000000
    Speed 6, FLAG 1
     time 18.00   tot   inf
   [14]     qtv    move STBD_TURN   dir SOUTH_WEST  loc 688,1104  DistToNext 60.811184
    Speed 6, FLAG 1
     time  0.00   tot   inf
   [15]     qtv    move FORWARD   dir SOUTH_WEST  loc 645,1061  DistToNext 0.000000
    Speed 4, FLAG 1
     time 27.36   tot   inf
   [16]     qtv    move STBD_TURN   dir WEST  loc 645,1061  DistToNext 0.000000
    Speed 4, FLAG 1
     time  0.00   tot   inf
   [17]     qtv    move STBD_TURN   dir NORTH_WEST  loc 645,1061  DistToNext 60.811184
    Speed 0, FLAG 1
     time  0.00   tot   inf
   [18]     qtv    move FORWARD   dir NORTH_WEST  loc 602,1104  DistToNext 0.000000
    Speed 4, FLAG 1
     time 27.36   tot   inf
   [19]     qtv    move STBD_TURN   dir NORTH  loc 602,1104  DistToNext 32.000000
    Speed 4, FLAG 1
     time  0.00   tot   inf
   [20]     qtv    move FORWARD   dir NORTH  loc 602,1136  DistToNext 5.000000
    Speed 2, FLAG 1
     time 28.80   tot   inf
   [21]     qtv    move FORWARD   dir NORTH  loc 602,1131  DistToNext 0.000000
    Speed 2, FLAG 2
     time  4.50   tot   inf
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir NORTH_EAST  loc 1025,716  DistToNext 0.000000
    Speed 4, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move BACK_SAIL   dir EAST  loc 1025,716  DistToNext 420.000000
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move STBD_TURN   dir EAST  loc 1025,716  DistToNext 420.000000
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 3]     qtv    move FORWARD   dir EAST  loc 1445,716  DistToNext 0.000000
    Speed 5, FLAG 1
     time 151.20   tot 151.20
   [ 4]     qtv    move STBD_TURN   dir SOUTH_EAST  loc 1445,716  DistToNext 59.396969
    Speed 0, FLAG 1
     time  0.00   tot 151.20
   [ 5]     qtv    move FORWARD   dir SOUTH_EAST  loc 1487,674  DistToNext 0.000000
    Speed 4, FLAG 1
     time 26.73   tot 177.93
   [ 6]     qtv    move PORT_TURN   dir EAST  loc 1487,674  DistToNext 65.000000
    Speed 0, FLAG 1
     time  0.00   tot 177.93
   [ 7]     qtv    move FORWARD   dir EAST  loc 1552,674  DistToNext 0.000000
    Speed 6, FLAG 1
     time 19.50   tot 197.43
   [ 8]     qtv    move NO_DIRECTION   dir EAST  loc 1552,674  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot 197.43
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir EAST  loc 1097,1376  DistToNext 50.000000
    Speed 5, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir EAST  loc 1132,1341  DistToNext 50.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move PORT_TURN   dir WEST  loc 877,1519  DistToNext 200.000000
    Speed 2, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir WEST  loc 677,1519  DistToNext 19.000000
    Speed 2, FLAG 1
     time 180.00   tot 180.00
   [ 2]     qtv    move FORWARD   dir WEST  loc 658,1519  DistToNext 0.000000
    Speed 2, FLAG 2
     time 17.10   tot 197.10
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir NORTH  loc 1062,1344  DistToNext 50.000000
    Speed 2, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir NORTH  loc 1097,1309  DistToNext 50.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir NORTH_EAST  loc 1600,-454  DistToNext 0.000000
    Speed 3, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move STBD_TURN   dir EAST  loc 1600,-454  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move FORWARD   dir EAST  loc 1660,-454  DistToNext 0.000000
    Speed 5, FLAG 1
     time 21.60   tot 21.60
   [ 3]     qtv    move PORT_TURN   dir NORTH_EAST  loc 1660,-454  DistToNext 60.811184
    Speed 0, FLAG 1
     time  0.00   tot 21.60
   [ 4]     qtv    move FORWARD   dir NORTH_EAST  loc 1703,-411  DistToNext 0.000000
    Speed 3, FLAG 1
     time 36.49   tot 58.09
   [ 5]     qtv    move PORT_TURN   dir NORTH  loc 1703,-411  DistToNext 60.000000
    Speed 3, FLAG 1
     time  0.00   tot 58.09
   [ 6]     qtv    move FORWARD   dir NORTH  loc 1703,-351  DistToNext 0.000000
    Speed 2, FLAG 1
     time 54.00   tot 112.09
   [ 7]     qtv    move PORT_TURN   dir NORTH_WEST  loc 1703,-351  DistToNext 0.000000
    Speed 2, FLAG 1
     time  0.00   tot 112.09
   [ 8]     qtv    move PORT_TURN   dir WEST  loc 1703,-351  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot 112.09
   [ 9]     qtv    move FORWARD   dir WEST  loc 1643,-351  DistToNext 0.000000
    Speed 2, FLAG 1
     time 54.00   tot 166.09
   [10]     qtv    move STBD_TURN   dir NORTH_WEST  loc 1643,-351  DistToNext 3.864805
    Speed 2, FLAG 1
     time  0.00   tot 166.09
   [11]     qtv    move FORWARD   dir NORTH_WEST  loc 1645,-353  DistToNext 0.000000
    Speed -1, FLAG 1
     time 13.91   tot 180.00
   [12]     qtv    move PORT_TURN   dir WEST  loc 1645,-353  DistToNext 3.864805
    Speed 0, FLAG 1
     time  0.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir SOUTH_WEST  loc 1662,610  DistToNext 50.000000
    Speed 3, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir SOUTH_WEST  loc 1697,575  DistToNext 50.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir NORTH  loc 1655,560  DistToNext 50.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir NORTH  loc 1690,525  DistToNext 50.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir WEST  loc 1317,247  DistToNext 50.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir WEST  loc 1352,212  DistToNext 0.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
   [ 2]     qtv    move PORT_TURN   dir SOUTH_WEST  loc 1352,212  DistToNext 50.000000
    Speed 0, FLAG 1
     time  0.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir WEST  loc 1483,-86  DistToNext 0.000000
    Speed 2, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move PORT_TURN   dir SOUTH_WEST  loc 1483,-86  DistToNext 0.000000
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move STBD_TURN   dir WEST  loc 1483,-86  DistToNext 70.000000
    Speed 2, FLAG 1
     time  0.00   tot  0.00
   [ 3]     qtv    move FORWARD   dir WEST  loc 1413,-86  DistToNext 0.000000
    Speed 2, FLAG 1
     time 63.00   tot 63.00
   [ 4]     qtv    move STBD_TURN   dir NORTH_WEST  loc 1413,-86  DistToNext 70.710678
    Speed 2, FLAG 1
     time  0.00   tot 63.00
   [ 5]     qtv    move FORWARD   dir NORTH_WEST  loc 1363,-36  DistToNext 0.000000
    Speed 2, FLAG 1
     time 63.64   tot 126.64
   [ 6]     qtv    move STBD_TURN   dir NORTH  loc 1363,-36  DistToNext 0.000000
    Speed 2, FLAG 1
     time  0.00   tot 126.64
   [ 7]     qtv    move STBD_TURN   dir NORTH_EAST  loc 1363,-36  DistToNext 70.710678
    Speed 0, FLAG 1
     time  0.00   tot 126.64
   [ 8]     qtv    move FORWARD   dir NORTH_EAST  loc 1413,14  DistToNext 0.000000
    Speed 3, FLAG 1
     time 42.43   tot 169.06
   [ 9]     qtv    move PORT_TURN   dir NORTH  loc 1413,14  DistToNext 12.000000
    Speed 3, FLAG 1
     time  0.00   tot 169.06
   [10]     qtv    move FORWARD   dir NORTH  loc 1413,26  DistToNext 45.000000
    Speed 2, FLAG 1
     time 10.80   tot 179.86
   [11]     qtv    move FORWARD   dir NORTH  loc 1413,71  DistToNext 0.000000
    Speed 2, FLAG 2
     time 40.50   tot 220.36
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir NORTH  loc 1628,-560  DistToNext 0.000000
    Speed 2, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move STBD_TURN   dir NORTH_EAST  loc 1628,-560  DistToNext 59.396969
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move FORWARD   dir NORTH_EAST  loc 1670,-518  DistToNext 0.000000
    Speed 3, FLAG 1
     time 35.64   tot 35.64
   [ 3]     qtv    move STBD_TURN   dir EAST  loc 1670,-518  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot 35.64
   [ 4]     qtv    move FORWARD   dir EAST  loc 1730,-518  DistToNext 0.000000
    Speed 5, FLAG 1
     time 21.60   tot 57.24
   [ 5]     qtv    move STBD_TURN   dir SOUTH_EAST  loc 1730,-518  DistToNext 59.396969
    Speed 0, FLAG 1
     time  0.00   tot 57.24
   [ 6]     qtv    move FORWARD   dir SOUTH_EAST  loc 1772,-560  DistToNext 0.000000
    Speed 4, FLAG 1
     time 26.73   tot 83.97
   [ 7]     qtv    move STBD_TURN   dir SOUTH  loc 1772,-560  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot 83.97
   [ 8]     qtv    move FORWARD   dir SOUTH  loc 1772,-620  DistToNext 0.000000
    Speed 5, FLAG 1
     time 21.60   tot 105.57
   [ 9]     qtv    move STBD_TURN   dir SOUTH_WEST  loc 1772,-620  DistToNext 59.396969
    Speed 0, FLAG 1
     time  0.00   tot 105.57
   [10]     qtv    move FORWARD   dir SOUTH_WEST  loc 1730,-662  DistToNext 0.000000
    Speed 3, FLAG 1
     time 35.64   tot 141.20
   [11]     qtv    move STBD_TURN   dir WEST  loc 1730,-662  DistToNext 42.000000
    Speed 0, FLAG 1
     time  0.00   tot 141.20
   [12]     qtv    move FORWARD   dir WEST  loc 1688,-662  DistToNext 25.000000
    Speed 2, FLAG 1
     time 37.80   tot 179.00
   [13]     qtv    move FORWARD   dir WEST  loc 1713,-662  DistToNext 0.000000
    Speed 2, FLAG 2
     time 22.50   tot 201.50
  End Path <===
* ==> Start Path
   [ 0]     qtv    move PORT_TURN   dir NORTH_EAST  loc 1590,-826  DistToNext 59.396969
    Speed 3, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir NORTH_EAST  loc 1632,-784  DistToNext 0.000000
    Speed 3, FLAG 1
     time 35.64   tot 35.64
   [ 2]     qtv    move STBD_TURN   dir EAST  loc 1632,-784  DistToNext 400.000000
    Speed 0, FLAG 1
     time  0.00   tot 35.64
   [ 3]     qtv    move FORWARD   dir EAST  loc 2032,-784  DistToNext 21.000000
    Speed 5, FLAG 1
     time 144.00   tot 179.64
   [ 4]     qtv    move FORWARD   dir EAST  loc 2011,-784  DistToNext 0.000000
    Speed 5, FLAG 2
     time  7.56   tot 187.20
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir WEST  loc 1144,1354  DistToNext 50.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir WEST  loc 1179,1319  DistToNext 50.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move PORT_TURN   dir NORTH  loc 1424,-354  DistToNext 200.000000
    Speed 2, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir NORTH  loc 1424,-154  DistToNext 0.000000
    Speed 2, FLAG 1
     time 180.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir WEST  loc 1777,-92  DistToNext 0.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move PORT_TURN   dir SOUTH_WEST  loc 1777,-92  DistToNext 59.396969
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move FORWARD   dir SOUTH_WEST  loc 1735,-134  DistToNext 0.000000
    Speed 3, FLAG 1
     time 35.64   tot 35.64
   [ 3]     qtv    move PORT_TURN   dir SOUTH  loc 1735,-134  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot 35.64
   [ 4]     qtv    move FORWARD   dir SOUTH  loc 1735,-194  DistToNext 0.000000
    Speed 5, FLAG 1
     time 21.60   tot 57.24
   [ 5]     qtv    move PORT_TURN   dir SOUTH_EAST  loc 1735,-194  DistToNext 59.396969
    Speed 0, FLAG 1
     time  0.00   tot 57.24
   [ 6]     qtv    move FORWARD   dir SOUTH_EAST  loc 1777,-236  DistToNext 0.000000
    Speed 4, FLAG 1
     time 26.73   tot 83.97
   [ 7]     qtv    move PORT_TURN   dir EAST  loc 1777,-236  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot 83.97
   [ 8]     qtv    move FORWARD   dir EAST  loc 1837,-236  DistToNext 0.000000
    Speed 5, FLAG 1
     time 21.60   tot 105.57
   [ 9]     qtv    move PORT_TURN   dir NORTH_EAST  loc 1837,-236  DistToNext 59.396969
    Speed 0, FLAG 1
     time  0.00   tot 105.57
   [10]     qtv    move FORWARD   dir NORTH_EAST  loc 1879,-194  DistToNext 0.000000
    Speed 3, FLAG 1
     time 35.64   tot 141.20
   [11]     qtv    move PORT_TURN   dir NORTH  loc 1879,-194  DistToNext 21.000000
    Speed 0, FLAG 1
     time  0.00   tot 141.20
   [12]     qtv    move FORWARD   dir NORTH  loc 1879,-173  DistToNext 17.000000
    Speed 1, FLAG 1
     time 37.80   tot 179.00
   [13]     qtv    move FORWARD   dir NORTH  loc 1879,-156  DistToNext 0.000000
    Speed 1, FLAG 2
     time 30.60   tot 209.60
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir WEST  loc 1623,-893  DistToNext 0.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move PORT_TURN   dir SOUTH_WEST  loc 1623,-893  DistToNext 69.296463
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move FORWARD   dir SOUTH_WEST  loc 1574,-942  DistToNext 0.000000
    Speed 2, FLAG 1
     time 62.37   tot 62.37
   [ 3]     qtv    move PORT_TURN   dir SOUTH  loc 1574,-942  DistToNext 70.000000
    Speed 0, FLAG 1
     time  0.00   tot 62.37
   [ 4]     qtv    move FORWARD   dir SOUTH  loc 1574,-1012  DistToNext 0.000000
    Speed 3, FLAG 1
     time 42.00   tot 104.37
   [ 5]     qtv    move PORT_TURN   dir SOUTH_EAST  loc 1574,-1012  DistToNext 69.296463
    Speed 0, FLAG 1
     time  0.00   tot 104.37
   [ 6]     qtv    move FORWARD   dir SOUTH_EAST  loc 1623,-1061  DistToNext 0.000000
    Speed 3, FLAG 1
     time 41.58   tot 145.94
   [ 7]     qtv    move PORT_TURN   dir EAST  loc 1623,-1061  DistToNext 55.000000
    Speed 0, FLAG 1
     time  0.00   tot 145.94
   [ 8]     qtv    move FORWARD   dir EAST  loc 1678,-1061  DistToNext 41.000000
    Speed 3, FLAG 1
     time 33.00   tot 178.94
   [ 9]     qtv    move FORWARD   dir EAST  loc 1637,-1061  DistToNext 0.000000
    Speed 3, FLAG 2
     time 24.60   tot 203.54
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir NORTH_WEST  loc 1105,330  DistToNext 50.000000
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir NORTH_WEST  loc 1140,295  DistToNext 0.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
   [ 2]     qtv    move PORT_TURN   dir WEST  loc 1140,295  DistToNext 50.000000
    Speed 0, FLAG 1
     time  0.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move STBD_TURN   dir WEST  loc 1618,243  DistToNext 70.000000
    Speed 2, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir WEST  loc 1548,243  DistToNext 0.000000
    Speed 2, FLAG 1
     time 63.00   tot 63.00
   [ 2]     qtv    move PORT_TURN   dir SOUTH_WEST  loc 1548,243  DistToNext 257.386871
    Speed 0, FLAG 1
     time  0.00   tot 63.00
   [ 3]     qtv    move FORWARD   dir SOUTH_WEST  loc 1366,61  DistToNext 0.000000
    Speed 4, FLAG 1
     time 115.82   tot 178.82
  End Path <===
* ==> Start Path
   [ 0]     qtv    move STBD_TURN   dir NORTH_EAST  loc 1424,119  DistToNext 59.396969
    Speed 2, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move BACK_SAIL   dir NORTH_EAST  loc 1466,161  DistToNext 0.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move FORWARD   dir NORTH_EAST  loc 1466,161  DistToNext 0.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 3]     qtv    move STBD_TURN   dir EAST  loc 1466,161  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 4]     qtv    move FORWARD   dir EAST  loc 1526,161  DistToNext 0.000000
    Speed 3, FLAG 1
     time 36.00   tot 36.00
   [ 5]     qtv    move STBD_TURN   dir SOUTH_EAST  loc 1526,161  DistToNext 2.828427
    Speed 0, FLAG 1
     time  0.00   tot 36.00
   [ 6]     qtv    move FORWARD   dir SOUTH_EAST  loc 1528,159  DistToNext 52.325901
    Speed 3, FLAG 1
     time  1.70   tot 37.70
   [ 7]     qtv    move FORWARD   dir SOUTH_EAST  loc 1565,122  DistToNext 0.000000
    Speed 3, FLAG 2
     time 31.40   tot 69.09
   [ 8]     qtv    move NO_DIRECTION   dir SOUTH_EAST  loc 1565,122  DistToNext 162.634567
    Speed 0, FLAG 1
     time  0.00   tot 69.09
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir EAST  loc 1409,499  DistToNext 60.000000
    Speed 5, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir EAST  loc 1469,499  DistToNext 0.000000
    Speed 5, FLAG 1
     time 21.60   tot 21.60
   [ 2]     qtv    move PORT_TURN   dir NORTH_EAST  loc 1469,499  DistToNext 60.811184
    Speed 0, FLAG 1
     time  0.00   tot 21.60
   [ 3]     qtv    move FORWARD   dir NORTH_EAST  loc 1512,542  DistToNext 0.000000
    Speed 3, FLAG 1
     time 36.49   tot 58.09
   [ 4]     qtv    move PORT_TURN   dir NORTH  loc 1512,542  DistToNext 60.000000
    Speed 3, FLAG 1
     time  0.00   tot 58.09
   [ 5]     qtv    move FORWARD   dir NORTH  loc 1512,602  DistToNext 0.000000
    Speed 1, FLAG 1
     time 108.00   tot 166.09
   [ 6]     qtv    move PORT_TURN   dir NORTH_WEST  loc 1512,602  DistToNext 0.000000
    Speed 1, FLAG 1
     time  0.00   tot 166.09
   [ 7]     qtv    move PORT_TURN   dir WEST  loc 1512,602  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot 166.09
   [ 8]     qtv    move FORWARD   dir WEST  loc 1452,602  DistToNext 0.000000
    Speed 1, FLAG 1
     time 108.00   tot 274.08
   [ 9]     qtv    move STBD_TURN   dir NORTH_WEST  loc 1452,602  DistToNext -26.135195
    Speed 1, FLAG 1
     time  0.00   tot 274.08
   [10]     qtv    move FORWARD   dir NORTH_WEST  loc 1470,584  DistToNext -26.135195
    Speed -1, FLAG 1
     time -94.09   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir SOUTH  loc 1743,651  DistToNext 50.000000
    Speed 3, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir SOUTH  loc 1778,616  DistToNext 50.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir WEST  loc 600,942  DistToNext 120.000000
    Speed 2, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir WEST  loc 480,942  DistToNext 0.000000
    Speed 2, FLAG 1
     time 108.00   tot 108.00
   [ 2]     qtv    move PORT_TURN   dir SOUTH_WEST  loc 480,942  DistToNext 118.793938
    Speed 0, FLAG 1
     time  0.00   tot 108.00
   [ 3]     qtv    move FORWARD   dir SOUTH_WEST  loc 396,858  DistToNext 0.000000
    Speed 4, FLAG 1
     time 53.46   tot 161.46
   [ 4]     qtv    move PORT_TURN   dir SOUTH  loc 396,858  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot 161.46
   [ 5]     qtv    move FORWARD   dir SOUTH  loc 396,798  DistToNext 0.000000
    Speed 6, FLAG 1
     time 18.00   tot 179.46
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir NORTH  loc 653,1119  DistToNext 100.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir NORTH  loc 653,1219  DistToNext 0.000000
    Speed 1, FLAG 1
     time 180.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir NORTH  loc 602,1136  DistToNext 120.000000
    Speed 2, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir NORTH  loc 602,1256  DistToNext 0.000000
    Speed 2, FLAG 1
     time 108.00   tot 108.00
   [ 2]     qtv    move STBD_TURN   dir NORTH_EAST  loc 602,1256  DistToNext 118.793938
    Speed 0, FLAG 1
     time  0.00   tot 108.00
   [ 3]     qtv    move FORWARD   dir NORTH_EAST  loc 686,1340  DistToNext 0.000000
    Speed 4, FLAG 1
     time 53.46   tot 161.46
   [ 4]     qtv    move STBD_TURN   dir EAST  loc 686,1340  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot 161.46
   [ 5]     qtv    move FORWARD   dir EAST  loc 746,1340  DistToNext 0.000000
    Speed 6, FLAG 1
     time 18.00   tot 179.46
  End Path <===
* ==> Start Path
   [ 0]     qtv    move NO_DIRECTION   dir EAST  loc 1552,674  DistToNext 60.000000
    Speed 5, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir EAST  loc 1612,674  DistToNext 0.000000
    Speed 5, FLAG 1
     time 21.60   tot 21.60
   [ 2]     qtv    move STBD_TURN   dir SOUTH_EAST  loc 1612,674  DistToNext 59.396969
    Speed 0, FLAG 1
     time  0.00   tot 21.60
   [ 3]     qtv    move FORWARD   dir SOUTH_EAST  loc 1654,632  DistToNext 0.000000
    Speed 4, FLAG 1
     time 26.73   tot 48.33
   [ 4]     qtv    move STBD_TURN   dir SOUTH  loc 1654,632  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot 48.33
   [ 5]     qtv    move FORWARD   dir SOUTH  loc 1654,572  DistToNext 0.000000
    Speed 5, FLAG 1
     time 21.60   tot 69.93
   [ 6]     qtv    move STBD_TURN   dir SOUTH_WEST  loc 1654,572  DistToNext 60.811184
    Speed 5, FLAG 1
     time  0.00   tot 69.93
   [ 7]     qtv    move FORWARD   dir SOUTH_WEST  loc 1611,529  DistToNext 0.000000
    Speed 3, FLAG 1
     time 36.49   tot 106.41
   [ 8]     qtv    move STBD_TURN   dir WEST  loc 1611,529  DistToNext 0.000000
    Speed 3, FLAG 1
     time  0.00   tot 106.41
   [ 9]     qtv    move STBD_TURN   dir NORTH_WEST  loc 1611,529  DistToNext 60.811184
    Speed 0, FLAG 1
     time  0.00   tot 106.41
   [10]     qtv    move FORWARD   dir NORTH_WEST  loc 1568,572  DistToNext 0.000000
    Speed 3, FLAG 1
     time 36.49   tot 142.90
   [11]     qtv    move STBD_TURN   dir NORTH  loc 1568,572  DistToNext 60.000000
    Speed 3, FLAG 1
     time  0.00   tot 142.90
   [12]     qtv    move FORWARD   dir NORTH  loc 1568,632  DistToNext 0.000000
    Speed 1, FLAG 1
     time 108.00   tot 250.90
   [13]     qtv    move PORT_TURN   dir NORTH_WEST  loc 1568,632  DistToNext 60.811184
    Speed 0, FLAG 1
     time  0.00   tot 250.90
   [14]     qtv    move FORWARD   dir NORTH_WEST  loc 1525,675  DistToNext 0.000000
    Speed 0, FLAG 1
     time   inf   tot   inf
   [15]     qtv    move PORT_TURN   dir WEST  loc 1525,675  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot   inf
   [16]     qtv    move FORWARD   dir WEST  loc 1465,675  DistToNext 0.000000
    Speed 1, FLAG 1
     time 108.00   tot   inf
   [17]     qtv    move PORT_TURN   dir SOUTH_WEST  loc 1465,675  DistToNext 0.000000
    Speed 1, FLAG 1
     time  0.00   tot   inf
   [18]     qtv    move PORT_TURN   dir SOUTH  loc 1465,675  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot   inf
   [19]     qtv    move FORWARD   dir SOUTH  loc 1465,615  DistToNext 0.000000
    Speed 5, FLAG 1
     time 21.60   tot   inf
   [20]     qtv    move STBD_TURN   dir SOUTH_WEST  loc 1465,615  DistToNext 38.183765
    Speed 5, FLAG 1
     time  0.00   tot   inf
   [21]     qtv    move FORWARD   dir SOUTH_WEST  loc 1438,588  DistToNext 18.384777
    Speed 3, FLAG 1
     time 22.91   tot   inf
   [22]     qtv    move FORWARD   dir SOUTH_WEST  loc 1451,601  DistToNext 0.000000
    Speed 3, FLAG 2
     time 11.03   tot   inf
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir EAST  loc 1050,1423  DistToNext 0.000000
    Speed 5, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move STBD_TURN   dir SOUTH_EAST  loc 1050,1423  DistToNext 59.396969
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move FORWARD   dir SOUTH_EAST  loc 1092,1381  DistToNext 0.000000
    Speed 4, FLAG 1
     time 26.73   tot 26.73
   [ 3]     qtv    move STBD_TURN   dir SOUTH  loc 1092,1381  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot 26.73
   [ 4]     qtv    move FORWARD   dir SOUTH  loc 1092,1321  DistToNext 0.000000
    Speed 5, FLAG 1
     time 21.60   tot 48.33
   [ 5]     qtv    move STBD_TURN   dir SOUTH_WEST  loc 1092,1321  DistToNext 118.793938
    Speed 0, FLAG 1
     time  0.00   tot 48.33
   [ 6]     qtv    move FORWARD   dir SOUTH_WEST  loc 1008,1237  DistToNext 0.000000
    Speed 3, FLAG 1
     time 71.28   tot 119.60
   [ 7]     qtv    move STBD_TURN   dir WEST  loc 1008,1237  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot 119.60
   [ 8]     qtv    move FORWARD   dir WEST  loc 948,1237  DistToNext 0.000000
    Speed 2, FLAG 1
     time 54.00   tot 173.60
   [ 9]     qtv    move STBD_TURN   dir NORTH_WEST  loc 948,1237  DistToNext 60.811184
    Speed 2, FLAG 1
     time  0.00   tot 173.60
   [10]     qtv    move FORWARD   dir NORTH_WEST  loc 905,1280  DistToNext 0.000000
    Speed 2, FLAG 1
     time 54.73   tot 228.33
   [11]     qtv    move STBD_TURN   dir NORTH  loc 905,1280  DistToNext 0.000000
    Speed 2, FLAG 1
     time  0.00   tot 228.33
   [12]     qtv    move STBD_TURN   dir NORTH_EAST  loc 905,1280  DistToNext 60.811184
    Speed 0, FLAG 1
     time  0.00   tot 228.33
   [13]     qtv    move FORWARD   dir NORTH_EAST  loc 948,1323  DistToNext 0.000000
    Speed 3, FLAG 1
     time 36.49   tot 264.82
   [14]     qtv    move STBD_TURN   dir EAST  loc 948,1323  DistToNext 120.000000
    Speed 3, FLAG 1
     time  0.00   tot 264.82
   [15]     qtv    move FORWARD   dir EAST  loc 1068,1323  DistToNext 0.000000
    Speed 5, FLAG 1
     time 43.20   tot 308.02
   [16]     qtv    move PORT_TURN   dir NORTH_EAST  loc 1068,1323  DistToNext 60.811184
    Speed 0, FLAG 1
     time  0.00   tot 308.02
   [17]     qtv    move FORWARD   dir NORTH_EAST  loc 1111,1366  DistToNext 0.000000
    Speed 3, FLAG 1
     time 36.49   tot 344.51
   [18]     qtv    move PORT_TURN   dir NORTH  loc 1111,1366  DistToNext 60.000000
    Speed 3, FLAG 1
     time  0.00   tot 344.51
   [19]     qtv    move FORWARD   dir NORTH  loc 1111,1426  DistToNext 0.000000
    Speed 2, FLAG 1
     time 54.00   tot 398.51
   [20]     qtv    move PORT_TURN   dir NORTH_WEST  loc 1111,1426  DistToNext 0.000000
    Speed 2, FLAG 1
     time  0.00   tot 398.51
   [21]     qtv    move PORT_TURN   dir WEST  loc 1111,1426  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot 398.51
   [22]     qtv    move FORWARD   dir WEST  loc 1051,1426  DistToNext 0.000000
    Speed 2, FLAG 1
     time 54.00   tot 452.50
   [23]     qtv    move STBD_TURN   dir NORTH_WEST  loc 1051,1426  DistToNext -75.696800
    Speed 2, FLAG 1
     time  0.00   tot 452.50
   [24]     qtv    move FORWARD   dir NORTH_WEST  loc 1104,1373  DistToNext 0.000000
    Speed -1, FLAG 1
     time -272.51   tot 180.00
   [25]     qtv    move PORT_TURN   dir WEST  loc 1104,1373  DistToNext -75.696800
    Speed 0, FLAG 1
     time  0.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move PORT_TURN   dir WEST  loc 677,1519  DistToNext 60.000000
    Speed 2, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir WEST  loc 617,1519  DistToNext 0.000000
    Speed 2, FLAG 1
     time 54.00   tot 54.00
   [ 2]     qtv    move PORT_TURN   dir SOUTH_WEST  loc 617,1519  DistToNext 207.889389
    Speed 0, FLAG 1
     time  0.00   tot 54.00
   [ 3]     qtv    move FORWARD   dir SOUTH_WEST  loc 470,1372  DistToNext 0.000000
    Speed 3, FLAG 1
     time 124.73   tot 178.73
  End Path <===
* ==> Start Path
   [ 0]     qtv    move STBD_TURN   dir NORTH_EAST  loc 1007,1399  DistToNext 50.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir NORTH_EAST  loc 1042,1364  DistToNext 0.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
   [ 2]     qtv    move STBD_TURN   dir EAST  loc 1042,1364  DistToNext 50.000000
    Speed 0, FLAG 1
     time  0.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move PORT_TURN   dir WEST  loc 1645,-353  DistToNext 60.000000
    Speed 2, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir WEST  loc 1585,-353  DistToNext 0.000000
    Speed 2, FLAG 1
     time 54.00   tot 54.00
   [ 2]     qtv    move PORT_TURN   dir SOUTH_WEST  loc 1585,-353  DistToNext 59.396969
    Speed 0, FLAG 1
     time  0.00   tot 54.00
   [ 3]     qtv    move FORWARD   dir SOUTH_WEST  loc 1543,-395  DistToNext 0.000000
    Speed 3, FLAG 1
     time 35.64   tot 89.64
   [ 4]     qtv    move PORT_TURN   dir SOUTH  loc 1543,-395  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot 89.64
   [ 5]     qtv    move FORWARD   dir SOUTH  loc 1543,-455  DistToNext 0.000000
    Speed 5, FLAG 1
     time 21.60   tot 111.24
   [ 6]     qtv    move PORT_TURN   dir SOUTH_EAST  loc 1543,-455  DistToNext 59.396969
    Speed 0, FLAG 1
     time  0.00   tot 111.24
   [ 7]     qtv    move FORWARD   dir SOUTH_EAST  loc 1585,-497  DistToNext 0.000000
    Speed 4, FLAG 1
     time 26.73   tot 137.97
   [ 8]     qtv    move PORT_TURN   dir EAST  loc 1585,-497  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot 137.97
   [ 9]     qtv    move FORWARD   dir EAST  loc 1645,-497  DistToNext 0.000000
    Speed 5, FLAG 1
     time 21.60   tot 159.57
   [10]     qtv    move PORT_TURN   dir NORTH_EAST  loc 1645,-497  DistToNext 32.526913
    Speed 0, FLAG 1
     time  0.00   tot 159.57
   [11]     qtv    move FORWARD   dir NORTH_EAST  loc 1668,-474  DistToNext 5.656854
    Speed 3, FLAG 1
     time 19.52   tot 179.08
   [12]     qtv    move FORWARD   dir NORTH_EAST  loc 1664,-478  DistToNext 0.000000
    Speed 3, FLAG 2
     time  3.39   tot 182.48
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir SOUTH_WEST  loc 1696,576  DistToNext 50.000000
    Speed 3, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir SOUTH_WEST  loc 1731,541  DistToNext 50.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir NORTH  loc 1689,526  DistToNext 50.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir NORTH  loc 1724,491  DistToNext 0.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
   [ 2]     qtv    move STBD_TURN   dir NORTH_EAST  loc 1724,491  DistToNext 50.000000
    Speed 0, FLAG 1
     time  0.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move PORT_TURN   dir SOUTH_WEST  loc 1352,212  DistToNext 50.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir SOUTH_WEST  loc 1387,177  DistToNext 0.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
   [ 2]     qtv    move STBD_TURN   dir WEST  loc 1387,177  DistToNext 50.000000
    Speed 0, FLAG 1
     time  0.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir NORTH  loc 1413,26  DistToNext 200.000000
    Speed 2, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir NORTH  loc 1413,226  DistToNext 0.000000
    Speed 2, FLAG 1
     time 180.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir WEST  loc 1688,-662  DistToNext 0.000000
    Speed 2, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move PORT_TURN   dir SOUTH_WEST  loc 1688,-662  DistToNext 0.000000
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move STBD_TURN   dir WEST  loc 1688,-662  DistToNext 60.000000
    Speed 2, FLAG 1
     time  0.00   tot  0.00
   [ 3]     qtv    move FORWARD   dir WEST  loc 1628,-662  DistToNext 0.000000
    Speed 2, FLAG 1
     time 54.00   tot 54.00
   [ 4]     qtv    move STBD_TURN   dir NORTH_WEST  loc 1628,-662  DistToNext 60.811184
    Speed 2, FLAG 1
     time  0.00   tot 54.00
   [ 5]     qtv    move FORWARD   dir NORTH_WEST  loc 1585,-619  DistToNext 0.000000
    Speed 2, FLAG 1
     time 54.73   tot 108.73
   [ 6]     qtv    move STBD_TURN   dir NORTH  loc 1585,-619  DistToNext 0.000000
    Speed 2, FLAG 1
     time  0.00   tot 108.73
   [ 7]     qtv    move STBD_TURN   dir NORTH_EAST  loc 1585,-619  DistToNext 60.811184
    Speed 0, FLAG 1
     time  0.00   tot 108.73
   [ 8]     qtv    move FORWARD   dir NORTH_EAST  loc 1628,-576  DistToNext 0.000000
    Speed 3, FLAG 1
     time 36.49   tot 145.22
   [ 9]     qtv    move STBD_TURN   dir EAST  loc 1628,-576  DistToNext 60.000000
    Speed 3, FLAG 1
     time  0.00   tot 145.22
   [10]     qtv    move FORWARD   dir EAST  loc 1688,-576  DistToNext 0.000000
    Speed 5, FLAG 1
     time 21.60   tot 166.82
   [11]     qtv    move PORT_TURN   dir NORTH_EAST  loc 1688,-576  DistToNext 21.213203
    Speed 0, FLAG 1
     time  0.00   tot 166.82
   [12]     qtv    move FORWARD   dir NORTH_EAST  loc 1703,-561  DistToNext 15.556349
    Speed 3, FLAG 1
     time 12.73   tot 179.54
   [13]     qtv    move FORWARD   dir NORTH_EAST  loc 1714,-550  DistToNext 0.000000
    Speed 3, FLAG 2
     time  9.33   tot 188.88
  End Path <===
* ==> Start Path
   [ 0]     qtv    move PORT_TURN   dir EAST  loc 2032,-784  DistToNext 60.000000
    Speed 5, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir EAST  loc 2092,-784  DistToNext 0.000000
    Speed 5, FLAG 1
     time 21.60   tot 21.60
   [ 2]     qtv    move STBD_TURN   dir SOUTH_EAST  loc 2092,-784  DistToNext 347.896545
    Speed 0, FLAG 1
     time  0.00   tot 21.60
   [ 3]     qtv    move FORWARD   dir SOUTH_EAST  loc 2338,-1030  DistToNext 43.840622
    Speed 4, FLAG 1
     time 156.55   tot 178.15
   [ 4]     qtv    move FORWARD   dir SOUTH_EAST  loc 2307,-999  DistToNext 0.000000
    Speed 4, FLAG 2
     time 19.73   tot 197.88
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir WEST  loc 999,1499  DistToNext 50.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir WEST  loc 1034,1464  DistToNext 50.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir NORTH  loc 1424,-154  DistToNext 200.000000
    Speed 2, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir NORTH  loc 1424,46  DistToNext 0.000000
    Speed 2, FLAG 1
     time 180.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir NORTH  loc 1879,-173  DistToNext 60.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir NORTH  loc 1879,-113  DistToNext 0.000000
    Speed 1, FLAG 1
     time 108.00   tot 108.00
   [ 2]     qtv    move STBD_TURN   dir NORTH_EAST  loc 1879,-113  DistToNext 59.396969
    Speed 0, FLAG 1
     time  0.00   tot 108.00
   [ 3]     qtv    move FORWARD   dir NORTH_EAST  loc 1921,-71  DistToNext 0.000000
    Speed 3, FLAG 1
     time 35.64   tot 143.64
   [ 4]     qtv    move STBD_TURN   dir EAST  loc 1921,-71  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot 143.64
   [ 5]     qtv    move FORWARD   dir EAST  loc 1981,-71  DistToNext 0.000000
    Speed 5, FLAG 1
     time 21.60   tot 165.24
   [ 6]     qtv    move STBD_TURN   dir SOUTH_EAST  loc 1981,-71  DistToNext 31.112698
    Speed 0, FLAG 1
     time  0.00   tot 165.24
   [ 7]     qtv    move FORWARD   dir SOUTH_EAST  loc 2003,-93  DistToNext 4.242640
    Speed 4, FLAG 1
     time 14.00   tot 179.24
   [ 8]     qtv    move FORWARD   dir SOUTH_EAST  loc 2000,-90  DistToNext 0.000000
    Speed 4, FLAG 2
     time  1.91   tot 181.15
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir EAST  loc 1678,-1061  DistToNext 0.000000
    Speed 3, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move PORT_TURN   dir NORTH_EAST  loc 1678,-1061  DistToNext 69.296463
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move FORWARD   dir NORTH_EAST  loc 1727,-1012  DistToNext 0.000000
    Speed 2, FLAG 1
     time 62.37   tot 62.37
   [ 3]     qtv    move PORT_TURN   dir NORTH  loc 1727,-1012  DistToNext 65.000000
    Speed 0, FLAG 1
     time  0.00   tot 62.37
   [ 4]     qtv    move FORWARD   dir NORTH  loc 1727,-947  DistToNext 61.000000
    Speed 1, FLAG 1
     time 117.00   tot 179.37
   [ 5]     qtv    move FORWARD   dir NORTH  loc 1727,-1008  DistToNext 0.000000
    Speed 1, FLAG 2
     time 109.80   tot 289.16
  End Path <===
* ==> Start Path
   [ 0]     qtv    move PORT_TURN   dir WEST  loc 1140,295  DistToNext 70.000000
    Speed 2, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir WEST  loc 1070,295  DistToNext 0.000000
    Speed 2, FLAG 1
     time 63.00   tot 63.00
   [ 2]     qtv    move PORT_TURN   dir SOUTH_WEST  loc 1070,295  DistToNext 69.296463
    Speed 0, FLAG 1
     time  0.00   tot 63.00
   [ 3]     qtv    move FORWARD   dir SOUTH_WEST  loc 1021,246  DistToNext 0.000000
    Speed 4, FLAG 1
     time 31.18   tot 94.18
   [ 4]     qtv    move PORT_TURN   dir SOUTH  loc 1021,246  DistToNext 70.000000
    Speed 0, FLAG 1
     time  0.00   tot 94.18
   [ 5]     qtv    move FORWARD   dir SOUTH  loc 1021,176  DistToNext 0.000000
    Speed 6, FLAG 1
     time 21.00   tot 115.18
   [ 6]     qtv    move PORT_TURN   dir SOUTH_EAST  loc 1021,176  DistToNext 69.296463
    Speed 0, FLAG 1
     time  0.00   tot 115.18
   [ 7]     qtv    move FORWARD   dir SOUTH_EAST  loc 1070,127  DistToNext 0.000000
    Speed 5, FLAG 1
     time 24.95   tot 140.13
   [ 8]     qtv    move PORT_TURN   dir EAST  loc 1070,127  DistToNext 70.000000
    Speed 0, FLAG 1
     time  0.00   tot 140.13
   [ 9]     qtv    move FORWARD   dir EAST  loc 1140,127  DistToNext 0.000000
    Speed 6, FLAG 1
     time 21.00   tot 161.13
   [10]     qtv    move PORT_TURN   dir NORTH_EAST  loc 1140,127  DistToNext 39.597980
    Speed 0, FLAG 1
     time  0.00   tot 161.13
   [11]     qtv    move FORWARD   dir NORTH_EAST  loc 1168,155  DistToNext 11.313708
    Speed 4, FLAG 1
     time 17.82   tot 178.95
   [12]     qtv    move FORWARD   dir NORTH_EAST  loc 1160,147  DistToNext 0.000000
    Speed 4, FLAG 2
     time  5.09   tot 184.04
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir SOUTH_WEST  loc 1502,167  DistToNext 0.000000
    Speed 4, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move PORT_TURN   dir SOUTH  loc 1502,167  DistToNext 140.000000
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move FORWARD   dir SOUTH  loc 1502,27  DistToNext 0.000000
    Speed 6, FLAG 1
     time 42.00   tot 42.00
   [ 3]     qtv    move STBD_TURN   dir SOUTH_WEST  loc 1502,27  DistToNext 70.710678
    Speed 0, FLAG 1
     time  0.00   tot 42.00
   [ 4]     qtv    move FORWARD   dir SOUTH_WEST  loc 1452,-23  DistToNext 0.000000
    Speed 4, FLAG 1
     time 31.82   tot 73.82
   [ 5]     qtv    move STBD_TURN   dir WEST  loc 1452,-23  DistToNext 70.000000
    Speed 4, FLAG 1
     time  0.00   tot 73.82
   [ 6]     qtv    move FORWARD   dir WEST  loc 1382,-23  DistToNext 0.000000
    Speed 2, FLAG 1
     time 63.00   tot 136.82
   [ 7]     qtv    move STBD_TURN   dir NORTH_WEST  loc 1382,-23  DistToNext 0.000000
    Speed 2, FLAG 1
     time  0.00   tot 136.82
   [ 8]     qtv    move STBD_TURN   dir NORTH  loc 1382,-23  DistToNext 70.000000
    Speed 0, FLAG 1
     time  0.00   tot 136.82
   [ 9]     qtv    move FORWARD   dir NORTH  loc 1382,47  DistToNext 0.000000
    Speed 2, FLAG 1
     time 63.00   tot 199.82
   [10]     qtv    move STBD_TURN   dir NORTH_EAST  loc 1382,47  DistToNext 138.592926
    Speed 2, FLAG 1
     time  0.00   tot 199.82
   [11]     qtv    move FORWARD   dir NORTH_EAST  loc 1480,145  DistToNext 0.000000
    Speed 4, FLAG 1
     time 62.37   tot 262.18
   [12]     qtv    move PORT_TURN   dir NORTH  loc 1480,145  DistToNext 70.000000
    Speed 0, FLAG 1
     time  0.00   tot 262.18
   [13]     qtv    move FORWARD   dir NORTH  loc 1480,215  DistToNext 0.000000
    Speed 2, FLAG 1
     time 63.00   tot 325.18
   [14]     qtv    move PORT_TURN   dir NORTH_WEST  loc 1480,215  DistToNext 70.710678
    Speed 2, FLAG 1
     time  0.00   tot 325.18
   [15]     qtv    move FORWARD   dir NORTH_WEST  loc 1430,265  DistToNext 0.000000
    Speed 2, FLAG 1
     time 63.64   tot 388.82
   [16]     qtv    move PORT_TURN   dir WEST  loc 1430,265  DistToNext 0.000000
    Speed 2, FLAG 1
     time  0.00   tot 388.82
   [17]     qtv    move PORT_TURN   dir SOUTH_WEST  loc 1430,265  DistToNext 70.710678
    Speed 0, FLAG 1
     time  0.00   tot 388.82
   [18]     qtv    move FORWARD   dir SOUTH_WEST  loc 1380,215  DistToNext 0.000000
    Speed 4, FLAG 1
     time 31.82   tot 420.64
   [19]     qtv    move STBD_TURN   dir WEST  loc 1380,215  DistToNext 83.000000
    Speed 4, FLAG 1
     time  0.00   tot 420.64
   [20]     qtv    move FORWARD   dir WEST  loc 1297,215  DistToNext 0.000000
    Speed 2, FLAG 1
     time 74.70   tot 495.34
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir NORTH_EAST  loc 1379,222  DistToNext 0.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move STBD_TURN   dir EAST  loc 1379,222  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move FORWARD   dir EAST  loc 1439,222  DistToNext 0.000000
    Speed 3, FLAG 1
     time 36.00   tot 36.00
   [ 3]     qtv    move STBD_TURN   dir SOUTH_EAST  loc 1439,222  DistToNext 59.396969
    Speed 0, FLAG 1
     time  0.00   tot 36.00
   [ 4]     qtv    move FORWARD   dir SOUTH_EAST  loc 1481,180  DistToNext 0.000000
    Speed 2, FLAG 1
     time 53.46   tot 89.46
   [ 5]     qtv    move STBD_TURN   dir SOUTH  loc 1481,180  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot 89.46
   [ 6]     qtv    move FORWARD   dir SOUTH  loc 1481,120  DistToNext 0.000000
    Speed 3, FLAG 1
     time 36.00   tot 125.46
   [ 7]     qtv    move STBD_TURN   dir SOUTH_WEST  loc 1481,120  DistToNext 60.811184
    Speed 3, FLAG 1
     time  0.00   tot 125.46
   [ 8]     qtv    move FORWARD   dir SOUTH_WEST  loc 1438,77  DistToNext 0.000000
    Speed 1, FLAG 1
     time 109.46   tot 234.92
   [ 9]     qtv    move STBD_TURN   dir WEST  loc 1438,77  DistToNext 0.000000
    Speed 1, FLAG 1
     time  0.00   tot 234.92
   [10]     qtv    move STBD_TURN   dir NORTH_WEST  loc 1438,77  DistToNext 60.811184
    Speed 0, FLAG 1
     time  0.00   tot 234.92
   [11]     qtv    move FORWARD   dir NORTH_WEST  loc 1395,120  DistToNext 0.000000
    Speed 1, FLAG 1
     time 109.46   tot 344.37
   [12]     qtv    move STBD_TURN   dir NORTH  loc 1395,120  DistToNext 50.000000
    Speed 1, FLAG 1
     time  0.00   tot 344.37
   [13]     qtv    move FORWARD   dir NORTH  loc 1395,170  DistToNext 41.000000
    Speed 1, FLAG 1
     time 90.00   tot 434.37
   [14]     qtv    move FORWARD   dir NORTH  loc 1395,129  DistToNext 0.000000
    Speed 1, FLAG 2
     time 73.80   tot 508.17
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir WEST  loc 1470,584  DistToNext 0.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move PORT_TURN   dir SOUTH_WEST  loc 1470,584  DistToNext 59.396969
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move FORWARD   dir SOUTH_WEST  loc 1428,542  DistToNext 0.000000
    Speed 3, FLAG 1
     time 35.64   tot 35.64
   [ 3]     qtv    move PORT_TURN   dir SOUTH  loc 1428,542  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot 35.64
   [ 4]     qtv    move FORWARD   dir SOUTH  loc 1428,482  DistToNext 0.000000
    Speed 5, FLAG 1
     time 21.60   tot 57.24
   [ 5]     qtv    move PORT_TURN   dir SOUTH_EAST  loc 1428,482  DistToNext 59.396969
    Speed 0, FLAG 1
     time  0.00   tot 57.24
   [ 6]     qtv    move FORWARD   dir SOUTH_EAST  loc 1470,440  DistToNext 0.000000
    Speed 4, FLAG 1
     time 26.73   tot 83.97
   [ 7]     qtv    move PORT_TURN   dir EAST  loc 1470,440  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot 83.97
   [ 8]     qtv    move FORWARD   dir EAST  loc 1530,440  DistToNext 0.000000
    Speed 5, FLAG 1
     time 21.60   tot 105.57
   [ 9]     qtv    move PORT_TURN   dir NORTH_EAST  loc 1530,440  DistToNext 59.396969
    Speed 0, FLAG 1
     time  0.00   tot 105.57
   [10]     qtv    move FORWARD   dir NORTH_EAST  loc 1572,482  DistToNext 0.000000
    Speed 3, FLAG 1
     time 35.64   tot 141.20
   [11]     qtv    move PORT_TURN   dir NORTH  loc 1572,482  DistToNext 21.000000
    Speed 0, FLAG 1
     time  0.00   tot 141.20
   [12]     qtv    move FORWARD   dir NORTH  loc 1572,503  DistToNext 17.000000
    Speed 1, FLAG 1
     time 37.80   tot 179.00
   [13]     qtv    move FORWARD   dir NORTH  loc 1572,520  DistToNext 0.000000
    Speed 1, FLAG 2
     time 30.60   tot 209.60
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir SOUTH  loc 1777,617  DistToNext 0.000000
    Speed 3, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move STBD_TURN   dir SOUTH_WEST  loc 1777,617  DistToNext 69.296463
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move FORWARD   dir SOUTH_WEST  loc 1728,568  DistToNext 0.000000
    Speed 2, FLAG 1
     time 62.37   tot 62.37
   [ 3]     qtv    move STBD_TURN   dir WEST  loc 1728,568  DistToNext 65.000000
    Speed 0, FLAG 1
     time  0.00   tot 62.37
   [ 4]     qtv    move FORWARD   dir WEST  loc 1663,568  DistToNext 61.000000
    Speed 1, FLAG 1
     time 117.00   tot 179.37
   [ 5]     qtv    move FORWARD   dir WEST  loc 1724,568  DistToNext 0.000000
    Speed 1, FLAG 2
     time 109.80   tot 289.16
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir SOUTH  loc 396,798  DistToNext 0.000000
    Speed 6, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move STBD_TURN   dir SOUTH_WEST  loc 396,798  DistToNext 59.396969
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move FORWARD   dir SOUTH_WEST  loc 354,756  DistToNext 0.000000
    Speed 4, FLAG 1
     time 26.73   tot 26.73
   [ 3]     qtv    move STBD_TURN   dir WEST  loc 354,756  DistToNext 120.000000
    Speed 0, FLAG 1
     time  0.00   tot 26.73
   [ 4]     qtv    move FORWARD   dir WEST  loc 234,756  DistToNext 0.000000
    Speed 2, FLAG 1
     time 108.00   tot 134.73
   [ 5]     qtv    move STBD_TURN   dir NORTH_WEST  loc 234,756  DistToNext 60.811184
    Speed 0, FLAG 1
     time  0.00   tot 134.73
   [ 6]     qtv    move FORWARD   dir NORTH_WEST  loc 191,799  DistToNext 0.000000
    Speed 0, FLAG 1
     time   inf   tot   inf
   [ 7]     qtv    move STBD_TURN   dir NORTH  loc 191,799  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot   inf
   [ 8]     qtv    move FORWARD   dir NORTH  loc 191,859  DistToNext 0.000000
    Speed 2, FLAG 1
     time 54.00   tot   inf
   [ 9]     qtv    move STBD_TURN   dir NORTH_EAST  loc 191,859  DistToNext 0.000000
    Speed 2, FLAG 1
     time  0.00   tot   inf
   [10]     qtv    move STBD_TURN   dir EAST  loc 191,859  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot   inf
   [11]     qtv    move FORWARD   dir EAST  loc 251,859  DistToNext 0.000000
    Speed 6, FLAG 1
     time 18.00   tot   inf
   [12]     qtv    move STBD_TURN   dir SOUTH_EAST  loc 251,859  DistToNext 118.793938
    Speed 6, FLAG 1
     time  0.00   tot   inf
   [13]     qtv    move FORWARD   dir SOUTH_EAST  loc 335,775  DistToNext 0.000000
    Speed 5, FLAG 1
     time 42.77   tot   inf
   [14]     qtv    move STBD_TURN   dir SOUTH  loc 335,775  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot   inf
   [15]     qtv    move FORWARD   dir SOUTH  loc 335,715  DistToNext 0.000000
    Speed 6, FLAG 1
     time 18.00   tot   inf
   [16]     qtv    move STBD_TURN   dir SOUTH_WEST  loc 335,715  DistToNext 60.811184
    Speed 6, FLAG 1
     time  0.00   tot   inf
   [17]     qtv    move FORWARD   dir SOUTH_WEST  loc 292,672  DistToNext 0.000000
    Speed 4, FLAG 1
     time 27.36   tot   inf
   [18]     qtv    move STBD_TURN   dir WEST  loc 292,672  DistToNext 0.000000
    Speed 4, FLAG 1
     time  0.00   tot   inf
   [19]     qtv    move STBD_TURN   dir NORTH_WEST  loc 292,672  DistToNext 60.811184
    Speed 0, FLAG 1
     time  0.00   tot   inf
   [20]     qtv    move FORWARD   dir NORTH_WEST  loc 249,715  DistToNext 0.000000
    Speed 4, FLAG 1
     time 27.36   tot   inf
   [21]     qtv    move STBD_TURN   dir NORTH  loc 249,715  DistToNext 2.000000
    Speed 4, FLAG 1
     time  0.00   tot   inf
   [22]     qtv    move FORWARD   dir NORTH  loc 249,717  DistToNext 55.000000
    Speed 2, FLAG 1
     time  1.80   tot   inf
   [23]     qtv    move FORWARD   dir NORTH  loc 249,772  DistToNext 0.000000
    Speed 2, FLAG 2
     time 49.50   tot   inf
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir NORTH  loc 653,1219  DistToNext 0.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move STBD_TURN   dir NORTH_EAST  loc 653,1219  DistToNext 59.396969
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move FORWARD   dir NORTH_EAST  loc 695,1261  DistToNext 0.000000
    Speed 2, FLAG 1
     time 53.46   tot 53.46
   [ 3]     qtv    move STBD_TURN   dir EAST  loc 695,1261  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot 53.46
   [ 4]     qtv    move FORWARD   dir EAST  loc 755,1261  DistToNext 0.000000
    Speed 4, FLAG 1
     time 27.00   tot 80.46
   [ 5]     qtv    move STBD_TURN   dir SOUTH_EAST  loc 755,1261  DistToNext 118.793938
    Speed 0, FLAG 1
     time  0.00   tot 80.46
   [ 6]     qtv    move FORWARD   dir SOUTH_EAST  loc 839,1177  DistToNext 0.000000
    Speed 3, FLAG 1
     time 71.28   tot 151.73
   [ 7]     qtv    move STBD_TURN   dir SOUTH  loc 839,1177  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot 151.73
   [ 8]     qtv    move FORWARD   dir SOUTH  loc 839,1117  DistToNext 0.000000
    Speed 4, FLAG 1
     time 27.00   tot 178.73
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir EAST  loc 746,1340  DistToNext 0.000000
    Speed 6, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move STBD_TURN   dir SOUTH_EAST  loc 746,1340  DistToNext 59.396969
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move FORWARD   dir SOUTH_EAST  loc 788,1298  DistToNext 0.000000
    Speed 5, FLAG 1
     time 21.38   tot 21.38
   [ 3]     qtv    move STBD_TURN   dir SOUTH  loc 788,1298  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot 21.38
   [ 4]     qtv    move FORWARD   dir SOUTH  loc 788,1238  DistToNext 0.000000
    Speed 6, FLAG 1
     time 18.00   tot 39.38
   [ 5]     qtv    move STBD_TURN   dir SOUTH_WEST  loc 788,1238  DistToNext 118.793938
    Speed 0, FLAG 1
     time  0.00   tot 39.38
   [ 6]     qtv    move FORWARD   dir SOUTH_WEST  loc 704,1154  DistToNext 0.000000
    Speed 4, FLAG 1
     time 53.46   tot 92.84
   [ 7]     qtv    move STBD_TURN   dir WEST  loc 704,1154  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot 92.84
   [ 8]     qtv    move FORWARD   dir WEST  loc 644,1154  DistToNext 0.000000
    Speed 2, FLAG 1
     time 54.00   tot 146.84
   [ 9]     qtv    move STBD_TURN   dir NORTH_WEST  loc 644,1154  DistToNext 60.811184
    Speed 2, FLAG 1
     time  0.00   tot 146.84
   [10]     qtv    move FORWARD   dir NORTH_WEST  loc 601,1197  DistToNext 0.000000
    Speed 2, FLAG 1
     time 54.73   tot 201.57
   [11]     qtv    move STBD_TURN   dir NORTH  loc 601,1197  DistToNext 0.000000
    Speed 2, FLAG 1
     time  0.00   tot 201.57
   [12]     qtv    move STBD_TURN   dir NORTH_EAST  loc 601,1197  DistToNext 60.811184
    Speed 0, FLAG 1
     time  0.00   tot 201.57
   [13]     qtv    move FORWARD   dir NORTH_EAST  loc 644,1240  DistToNext 0.000000
    Speed 4, FLAG 1
     time 27.36   tot 228.93
   [14]     qtv    move STBD_TURN   dir EAST  loc 644,1240  DistToNext 120.000000
    Speed 4, FLAG 1
     time  0.00   tot 228.93
   [15]     qtv    move FORWARD   dir EAST  loc 764,1240  DistToNext 0.000000
    Speed 6, FLAG 1
     time 36.00   tot 264.93
   [16]     qtv    move PORT_TURN   dir NORTH_EAST  loc 764,1240  DistToNext 60.811184
    Speed 0, FLAG 1
     time  0.00   tot 264.93
   [17]     qtv    move FORWARD   dir NORTH_EAST  loc 807,1283  DistToNext 0.000000
    Speed 4, FLAG 1
     time 27.36   tot 292.30
   [18]     qtv    move PORT_TURN   dir NORTH  loc 807,1283  DistToNext 60.000000
    Speed 4, FLAG 1
     time  0.00   tot 292.30
   [19]     qtv    move FORWARD   dir NORTH  loc 807,1343  DistToNext 0.000000
    Speed 2, FLAG 1
     time 54.00   tot 346.30
   [20]     qtv    move PORT_TURN   dir NORTH_WEST  loc 807,1343  DistToNext 0.000000
    Speed 2, FLAG 1
     time  0.00   tot 346.30
   [21]     qtv    move PORT_TURN   dir WEST  loc 807,1343  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot 346.30
   [22]     qtv    move FORWARD   dir WEST  loc 747,1343  DistToNext 0.000000
    Speed 2, FLAG 1
     time 54.00   tot 400.30
   [23]     qtv    move STBD_TURN   dir NORTH_WEST  loc 747,1343  DistToNext -61.194534
    Speed 2, FLAG 1
     time  0.00   tot 400.30
   [24]     qtv    move FORWARD   dir NORTH_WEST  loc 790,1300  DistToNext 0.000000
    Speed -1, FLAG 1
     time -220.30   tot 180.00
   [25]     qtv    move STBD_TURN   dir NORTH  loc 790,1300  DistToNext -61.194534
    Speed 0, FLAG 1
     time  0.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move NO_DIRECTION   dir NORTH  loc 1438,588  DistToNext 60.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move BACK_SAIL   dir NORTH  loc 1438,648  DistToNext 0.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move FORWARD   dir NORTH  loc 1438,648  DistToNext 0.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 3]     qtv    move STBD_TURN   dir NORTH_EAST  loc 1438,648  DistToNext 59.396969
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 4]     qtv    move FORWARD   dir NORTH_EAST  loc 1480,690  DistToNext 0.000000
    Speed 2, FLAG 1
     time 53.46   tot 53.46
   [ 5]     qtv    move STBD_TURN   dir EAST  loc 1480,690  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot 53.46
   [ 6]     qtv    move FORWARD   dir EAST  loc 1540,690  DistToNext 0.000000
    Speed 4, FLAG 1
     time 27.00   tot 80.46
   [ 7]     qtv    move STBD_TURN   dir SOUTH_EAST  loc 1540,690  DistToNext 31.112698
    Speed 0, FLAG 1
     time  0.00   tot 80.46
   [ 8]     qtv    move FORWARD   dir SOUTH_EAST  loc 1562,668  DistToNext 4.242640
    Speed 3, FLAG 1
     time 18.67   tot 99.12
   [ 9]     qtv    move FORWARD   dir SOUTH_EAST  loc 1559,671  DistToNext 0.000000
    Speed 3, FLAG 2
     time  2.55   tot 101.67
   [10]     qtv    move NO_DIRECTION   dir SOUTH_EAST  loc 1559,671  DistToNext 0.000000
    Speed 0, FLAG 1
     time  0.00   tot 101.67
  End Path <===
* ==> Start Path
   [ 0]     qtv    move PORT_TURN   dir NORTH_WEST  loc 1104,1373  DistToNext 50.000000
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir NORTH_WEST  loc 1139,1338  DistToNext 0.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
   [ 2]     qtv    move PORT_TURN   dir WEST  loc 1139,1338  DistToNext 50.000000
    Speed 0, FLAG 1
     time  0.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir SOUTH_WEST  loc 470,1372  DistToNext 0.000000
    Speed 3, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move PORT_TURN   dir SOUTH  loc 470,1372  DistToNext 120.000000
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move FORWARD   dir SOUTH  loc 470,1252  DistToNext 0.000000
    Speed 5, FLAG 1
     time 43.20   tot 43.20
   [ 3]     qtv    move STBD_TURN   dir SOUTH_WEST  loc 470,1252  DistToNext 60.811184
    Speed 0, FLAG 1
     time  0.00   tot 43.20
   [ 4]     qtv    move FORWARD   dir SOUTH_WEST  loc 427,1209  DistToNext 0.000000
    Speed 3, FLAG 1
     time 36.49   tot 79.69
   [ 5]     qtv    move STBD_TURN   dir WEST  loc 427,1209  DistToNext 60.000000
    Speed 3, FLAG 1
     time  0.00   tot 79.69
   [ 6]     qtv    move FORWARD   dir WEST  loc 367,1209  DistToNext 0.000000
    Speed 2, FLAG 1
     time 54.00   tot 133.69
   [ 7]     qtv    move STBD_TURN   dir NORTH_WEST  loc 367,1209  DistToNext 0.000000
    Speed 2, FLAG 1
     time  0.00   tot 133.69
   [ 8]     qtv    move STBD_TURN   dir NORTH  loc 367,1209  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot 133.69
   [ 9]     qtv    move FORWARD   dir NORTH  loc 367,1269  DistToNext 0.000000
    Speed 2, FLAG 1
     time 54.00   tot 187.69
   [10]     qtv    move STBD_TURN   dir NORTH_EAST  loc 367,1269  DistToNext 118.793938
    Speed 2, FLAG 1
     time  0.00   tot 187.69
   [11]     qtv    move FORWARD   dir NORTH_EAST  loc 451,1353  DistToNext 0.000000
    Speed 3, FLAG 1
     time 71.28   tot 258.96
   [12]     qtv    move PORT_TURN   dir NORTH  loc 451,1353  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot 258.96
   [13]     qtv    move FORWARD   dir NORTH  loc 451,1413  DistToNext 0.000000
    Speed 2, FLAG 1
     time 54.00   tot 312.96
   [14]     qtv    move PORT_TURN   dir NORTH_WEST  loc 451,1413  DistToNext 60.811184
    Speed 2, FLAG 1
     time  0.00   tot 312.96
   [15]     qtv    move FORWARD   dir NORTH_WEST  loc 408,1456  DistToNext 0.000000
    Speed 2, FLAG 1
     time 54.73   tot 367.69
   [16]     qtv    move PORT_TURN   dir WEST  loc 408,1456  DistToNext 0.000000
    Speed 2, FLAG 1
     time  0.00   tot 367.69
   [17]     qtv    move PORT_TURN   dir SOUTH_WEST  loc 408,1456  DistToNext 60.811184
    Speed 0, FLAG 1
     time  0.00   tot 367.69
   [18]     qtv    move FORWARD   dir SOUTH_WEST  loc 365,1413  DistToNext 0.000000
    Speed 3, FLAG 1
     time 36.49   tot 404.18
   [19]     qtv    move STBD_TURN   dir WEST  loc 365,1413  DistToNext 72.000000
    Speed 3, FLAG 1
     time  0.00   tot 404.18
   [20]     qtv    move FORWARD   dir WEST  loc 293,1413  DistToNext 0.000000
    Speed 2, FLAG 1
     time 64.80   tot 468.98
  End Path <===
* ==> Start Path
   [ 0]     qtv    move STBD_TURN   dir EAST  loc 1042,1364  DistToNext 50.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir EAST  loc 1077,1329  DistToNext 50.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move PORT_TURN   dir NORTH_EAST  loc 1668,-474  DistToNext 59.396969
    Speed 3, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir NORTH_EAST  loc 1710,-432  DistToNext 0.000000
    Speed 3, FLAG 1
     time 35.64   tot 35.64
   [ 2]     qtv    move STBD_TURN   dir EAST  loc 1710,-432  DistToNext 400.000000
    Speed 0, FLAG 1
     time  0.00   tot 35.64
   [ 3]     qtv    move FORWARD   dir EAST  loc 2110,-432  DistToNext 21.000000
    Speed 5, FLAG 1
     time 144.00   tot 179.64
   [ 4]     qtv    move FORWARD   dir EAST  loc 2089,-432  DistToNext 0.000000
    Speed 5, FLAG 2
     time  7.56   tot 187.20
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir SOUTH_WEST  loc 1640,632  DistToNext 0.000000
    Speed 3, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move PORT_TURN   dir SOUTH  loc 1640,632  DistToNext 140.000000
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move FORWARD   dir SOUTH  loc 1640,492  DistToNext 0.000000
    Speed 5, FLAG 1
     time 50.40   tot 50.40
   [ 3]     qtv    move STBD_TURN   dir SOUTH_WEST  loc 1640,492  DistToNext 70.710678
    Speed 0, FLAG 1
     time  0.00   tot 50.40
   [ 4]     qtv    move FORWARD   dir SOUTH_WEST  loc 1590,442  DistToNext 0.000000
    Speed 3, FLAG 1
     time 42.43   tot 92.83
   [ 5]     qtv    move STBD_TURN   dir WEST  loc 1590,442  DistToNext 70.000000
    Speed 3, FLAG 1
     time  0.00   tot 92.83
   [ 6]     qtv    move FORWARD   dir WEST  loc 1520,442  DistToNext 0.000000
    Speed 2, FLAG 1
     time 63.00   tot 155.83
   [ 7]     qtv    move STBD_TURN   dir NORTH_WEST  loc 1520,442  DistToNext 0.000000
    Speed 2, FLAG 1
     time  0.00   tot 155.83
   [ 8]     qtv    move STBD_TURN   dir NORTH  loc 1520,442  DistToNext 70.000000
    Speed 0, FLAG 1
     time  0.00   tot 155.83
   [ 9]     qtv    move FORWARD   dir NORTH  loc 1520,512  DistToNext 0.000000
    Speed 2, FLAG 1
     time 63.00   tot 218.82
   [10]     qtv    move STBD_TURN   dir NORTH_EAST  loc 1520,512  DistToNext 138.592926
    Speed 2, FLAG 1
     time  0.00   tot 218.82
   [11]     qtv    move FORWARD   dir NORTH_EAST  loc 1618,610  DistToNext 0.000000
    Speed 3, FLAG 1
     time 83.16   tot 301.98
   [12]     qtv    move PORT_TURN   dir NORTH  loc 1618,610  DistToNext 70.000000
    Speed 0, FLAG 1
     time  0.00   tot 301.98
   [13]     qtv    move FORWARD   dir NORTH  loc 1618,680  DistToNext 0.000000
    Speed 2, FLAG 1
     time 63.00   tot 364.98
   [14]     qtv    move PORT_TURN   dir NORTH_WEST  loc 1618,680  DistToNext 70.710678
    Speed 2, FLAG 1
     time  0.00   tot 364.98
   [15]     qtv    move FORWARD   dir NORTH_WEST  loc 1568,730  DistToNext 0.000000
    Speed 2, FLAG 1
     time 63.64   tot 428.62
   [16]     qtv    move PORT_TURN   dir WEST  loc 1568,730  DistToNext 0.000000
    Speed 2, FLAG 1
     time  0.00   tot 428.62
   [17]     qtv    move PORT_TURN   dir SOUTH_WEST  loc 1568,730  DistToNext 70.710678
    Speed 0, FLAG 1
     time  0.00   tot 428.62
   [18]     qtv    move FORWARD   dir SOUTH_WEST  loc 1518,680  DistToNext 0.000000
    Speed 3, FLAG 1
     time 42.43   tot 471.04
   [19]     qtv    move STBD_TURN   dir WEST  loc 1518,680  DistToNext 50.000000
    Speed 3, FLAG 1
     time  0.00   tot 471.04
   [20]     qtv    move FORWARD   dir WEST  loc 1468,680  DistToNext 31.000000
    Speed 2, FLAG 1
     time 45.00   tot 516.04
   [21]     qtv    move FORWARD   dir WEST  loc 1499,680  DistToNext 0.000000
    Speed 2, FLAG 2
     time 27.90   tot 543.94
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir NORTH  loc 1723,582  DistToNext 50.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir NORTH  loc 1758,547  DistToNext 50.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move STBD_TURN   dir WEST  loc 1387,177  DistToNext 50.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir WEST  loc 1422,142  DistToNext 50.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir NORTH  loc 1347,176  DistToNext 0.000000
    Speed 2, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move STBD_TURN   dir NORTH_EAST  loc 1347,176  DistToNext 299.813263
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move FORWARD   dir NORTH_EAST  loc 1559,388  DistToNext 0.000000
    Speed 3, FLAG 1
     time 179.89   tot 179.89
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir NORTH_EAST  loc 1703,-561  DistToNext 0.000000
    Speed 3, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move STBD_TURN   dir EAST  loc 1703,-561  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move FORWARD   dir EAST  loc 1763,-561  DistToNext 0.000000
    Speed 5, FLAG 1
     time 21.60   tot 21.60
   [ 3]     qtv    move STBD_TURN   dir SOUTH_EAST  loc 1763,-561  DistToNext 59.396969
    Speed 0, FLAG 1
     time  0.00   tot 21.60
   [ 4]     qtv    move FORWARD   dir SOUTH_EAST  loc 1805,-603  DistToNext 0.000000
    Speed 4, FLAG 1
     time 26.73   tot 48.33
   [ 5]     qtv    move STBD_TURN   dir SOUTH  loc 1805,-603  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot 48.33
   [ 6]     qtv    move FORWARD   dir SOUTH  loc 1805,-663  DistToNext 0.000000
    Speed 5, FLAG 1
     time 21.60   tot 69.93
   [ 7]     qtv    move STBD_TURN   dir SOUTH_WEST  loc 1805,-663  DistToNext 60.811184
    Speed 5, FLAG 1
     time  0.00   tot 69.93
   [ 8]     qtv    move FORWARD   dir SOUTH_WEST  loc 1762,-706  DistToNext 0.000000
    Speed 3, FLAG 1
     time 36.49   tot 106.41
   [ 9]     qtv    move STBD_TURN   dir WEST  loc 1762,-706  DistToNext 0.000000
    Speed 3, FLAG 1
     time  0.00   tot 106.41
   [10]     qtv    move STBD_TURN   dir NORTH_WEST  loc 1762,-706  DistToNext 60.811184
    Speed 0, FLAG 1
     time  0.00   tot 106.41
   [11]     qtv    move FORWARD   dir NORTH_WEST  loc 1719,-663  DistToNext 0.000000
    Speed 3, FLAG 1
     time 36.49   tot 142.90
   [12]     qtv    move STBD_TURN   dir NORTH  loc 1719,-663  DistToNext 60.000000
    Speed 3, FLAG 1
     time  0.00   tot 142.90
   [13]     qtv    move FORWARD   dir NORTH  loc 1719,-603  DistToNext 0.000000
    Speed 2, FLAG 1
     time 54.00   tot 196.90
   [14]     qtv    move PORT_TURN   dir NORTH_WEST  loc 1719,-603  DistToNext 60.811184
    Speed 0, FLAG 1
     time  0.00   tot 196.90
   [15]     qtv    move FORWARD   dir NORTH_WEST  loc 1676,-560  DistToNext 0.000000
    Speed 0, FLAG 1
     time   inf   tot   inf
   [16]     qtv    move PORT_TURN   dir WEST  loc 1676,-560  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot   inf
   [17]     qtv    move FORWARD   dir WEST  loc 1616,-560  DistToNext 0.000000
    Speed 2, FLAG 1
     time 54.00   tot   inf
   [18]     qtv    move PORT_TURN   dir SOUTH_WEST  loc 1616,-560  DistToNext 0.000000
    Speed 2, FLAG 1
     time  0.00   tot   inf
   [19]     qtv    move PORT_TURN   dir SOUTH  loc 1616,-560  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot   inf
   [20]     qtv    move FORWARD   dir SOUTH  loc 1616,-620  DistToNext 0.000000
    Speed 5, FLAG 1
     time 21.60   tot   inf
   [21]     qtv    move STBD_TURN   dir SOUTH_WEST  loc 1616,-620  DistToNext 59.396969
    Speed 5, FLAG 1
     time  0.00   tot   inf
   [22]     qtv    move FORWARD   dir SOUTH_WEST  loc 1574,-662  DistToNext 0.000000
    Speed 3, FLAG 1
     time 35.64   tot   inf
   [23]     qtv    move STBD_TURN   dir WEST  loc 1574,-662  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot   inf
   [24]     qtv    move FORWARD   dir WEST  loc 1514,-662  DistToNext 0.000000
    Speed 2, FLAG 1
     time 54.00   tot   inf
   [25]     qtv    move STBD_TURN   dir NORTH_WEST  loc 1514,-662  DistToNext 60.811184
    Speed 2, FLAG 1
     time  0.00   tot   inf
   [26]     qtv    move FORWARD   dir NORTH_WEST  loc 1471,-619  DistToNext 0.000000
    Speed 2, FLAG 1
     time 54.73   tot   inf
   [27]     qtv    move STBD_TURN   dir NORTH  loc 1471,-619  DistToNext 0.000000
    Speed 2, FLAG 1
     time  0.00   tot   inf
   [28]     qtv    move STBD_TURN   dir NORTH_EAST  loc 1471,-619  DistToNext 60.811184
    Speed 0, FLAG 1
     time  0.00   tot   inf
   [29]     qtv    move FORWARD   dir NORTH_EAST  loc 1514,-576  DistToNext 0.000000
    Speed 3, FLAG 1
     time 36.49   tot   inf
   [30]     qtv    move STBD_TURN   dir EAST  loc 1514,-576  DistToNext 60.000000
    Speed 3, FLAG 1
     time  0.00   tot   inf
   [31]     qtv    move FORWARD   dir EAST  loc 1574,-576  DistToNext 0.000000
    Speed 5, FLAG 1
     time 21.60   tot   inf
   [32]     qtv    move PORT_TURN   dir NORTH_EAST  loc 1574,-576  DistToNext 60.811184
    Speed 0, FLAG 1
     time  0.00   tot   inf
   [33]     qtv    move FORWARD   dir NORTH_EAST  loc 1617,-533  DistToNext 0.000000
    Speed 3, FLAG 1
     time 36.49   tot   inf
   [34]     qtv    move PORT_TURN   dir NORTH  loc 1617,-533  DistToNext 60.000000
    Speed 3, FLAG 1
     time  0.00   tot   inf
   [35]     qtv    move FORWARD   dir NORTH  loc 1617,-473  DistToNext 0.000000
    Speed 2, FLAG 1
     time 54.00   tot   inf
   [36]     qtv    move PORT_TURN   dir NORTH_WEST  loc 1617,-473  DistToNext 0.000000
    Speed 2, FLAG 1
     time  0.00   tot   inf
   [37]     qtv    move PORT_TURN   dir WEST  loc 1617,-473  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot   inf
   [38]     qtv    move FORWARD   dir WEST  loc 1557,-473  DistToNext 0.000000
    Speed 2, FLAG 1
     time 54.00   tot   inf
   [39]     qtv    move STBD_TURN   dir NORTH_WEST  loc 1557,-473  DistToNext -inf
    Speed 2, FLAG 1
     time  0.00   tot   inf
   [40]     qtv    move FORWARD   dir NORTH_WEST  loc -2147482091,2147483175  DistToNext 0.000000
    Speed -1, FLAG 1
     time  -inf   tot  -nan
   [41]     qtv    move PORT_TURN   dir WEST  loc -2147482091,2147483175  DistToNext -inf
    Speed 0, FLAG 1
     time  0.00   tot  -nan
  End Path <===
* ==> Start Path
   [ 0]     qtv    move PORT_TURN   dir SOUTH_EAST  loc 2338,-1030  DistToNext 59.396969
    Speed 4, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir SOUTH_EAST  loc 2380,-1072  DistToNext 0.000000
    Speed 4, FLAG 1
     time 26.73   tot 26.73
   [ 2]     qtv    move STBD_TURN   dir SOUTH  loc 2380,-1072  DistToNext 425.000000
    Speed 0, FLAG 1
     time  0.00   tot 26.73
   [ 3]     qtv    move FORWARD   dir SOUTH  loc 2380,-1497  DistToNext 49.000000
    Speed 5, FLAG 1
     time 153.00   tot 179.73
   [ 4]     qtv    move FORWARD   dir SOUTH  loc 2380,-1546  DistToNext 0.000000
    Speed 5, FLAG 2
     time 17.64   tot 197.37
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir WEST  loc 1034,1464  DistToNext 50.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir WEST  loc 1069,1429  DistToNext 50.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir NORTH  loc 1336,116  DistToNext 200.000000
    Speed 2, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir NORTH  loc 1336,316  DistToNext 0.000000
    Speed 2, FLAG 1
     time 180.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir SOUTH_EAST  loc 2003,-93  DistToNext 0.000000
    Speed 4, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move PORT_TURN   dir EAST  loc 2003,-93  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move FORWARD   dir EAST  loc 2063,-93  DistToNext 0.000000
    Speed 5, FLAG 1
     time 21.60   tot 21.60
   [ 3]     qtv    move PORT_TURN   dir NORTH_EAST  loc 2063,-93  DistToNext 59.396969
    Speed 0, FLAG 1
     time  0.00   tot 21.60
   [ 4]     qtv    move FORWARD   dir NORTH_EAST  loc 2105,-51  DistToNext 0.000000
    Speed 3, FLAG 1
     time 35.64   tot 57.24
   [ 5]     qtv    move PORT_TURN   dir NORTH  loc 2105,-51  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot 57.24
   [ 6]     qtv    move FORWARD   dir NORTH  loc 2105,9  DistToNext 0.000000
    Speed 1, FLAG 1
     time 108.00   tot 165.24
   [ 7]     qtv    move PORT_TURN   dir NORTH_WEST  loc 2105,9  DistToNext 60.811184
    Speed 1, FLAG 1
     time  0.00   tot 165.24
   [ 8]     qtv    move FORWARD   dir NORTH_WEST  loc 2062,52  DistToNext 0.000000
    Speed 1, FLAG 1
     time 109.46   tot 274.70
   [ 9]     qtv    move PORT_TURN   dir WEST  loc 2062,52  DistToNext 0.000000
    Speed 1, FLAG 1
     time  0.00   tot 274.70
   [10]     qtv    move PORT_TURN   dir SOUTH_WEST  loc 2062,52  DistToNext 60.811184
    Speed 0, FLAG 1
     time  0.00   tot 274.70
   [11]     qtv    move FORWARD   dir SOUTH_WEST  loc 2019,9  DistToNext 0.000000
    Speed 3, FLAG 1
     time 36.49   tot 311.18
   [12]     qtv    move STBD_TURN   dir WEST  loc 2019,9  DistToNext 60.000000
    Speed 3, FLAG 1
     time  0.00   tot 311.18
   [13]     qtv    move FORWARD   dir WEST  loc 1959,9  DistToNext 0.000000
    Speed 1, FLAG 1
     time 108.00   tot 419.18
   [14]     qtv    move STBD_TURN   dir NORTH_WEST  loc 1959,9  DistToNext 60.811184
    Speed 0, FLAG 1
     time  0.00   tot 419.18
   [15]     qtv    move FORWARD   dir NORTH_WEST  loc 1916,52  DistToNext 0.000000
    Speed 0, FLAG 1
     time   inf   tot   inf
   [16]     qtv    move STBD_TURN   dir NORTH  loc 1916,52  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot   inf
   [17]     qtv    move FORWARD   dir NORTH  loc 1916,112  DistToNext 0.000000
    Speed 1, FLAG 1
     time 108.00   tot   inf
   [18]     qtv    move STBD_TURN   dir NORTH_EAST  loc 1916,112  DistToNext 0.000000
    Speed 1, FLAG 1
     time  0.00   tot   inf
   [19]     qtv    move STBD_TURN   dir EAST  loc 1916,112  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot   inf
   [20]     qtv    move FORWARD   dir EAST  loc 1976,112  DistToNext 0.000000
    Speed 5, FLAG 1
     time 21.60   tot   inf
   [21]     qtv    move STBD_TURN   dir SOUTH_EAST  loc 1976,112  DistToNext 31.112698
    Speed 5, FLAG 1
     time  0.00   tot   inf
   [22]     qtv    move FORWARD   dir SOUTH_EAST  loc 1998,90  DistToNext 4.242640
    Speed 4, FLAG 1
     time 14.00   tot   inf
   [23]     qtv    move FORWARD   dir SOUTH_EAST  loc 1995,93  DistToNext 0.000000
    Speed 4, FLAG 2
     time  1.91   tot   inf
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir NORTH  loc 1727,-947  DistToNext 100.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir NORTH  loc 1727,-847  DistToNext 0.000000
    Speed 1, FLAG 1
     time 180.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move PORT_TURN   dir NORTH_EAST  loc 1168,155  DistToNext 69.296463
    Speed 4, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir NORTH_EAST  loc 1217,204  DistToNext 0.000000
    Speed 4, FLAG 1
     time 31.18   tot 31.18
   [ 2]     qtv    move PORT_TURN   dir NORTH  loc 1217,204  DistToNext 165.000000
    Speed 0, FLAG 1
     time  0.00   tot 31.18
   [ 3]     qtv    move FORWARD   dir NORTH  loc 1217,369  DistToNext 19.000000
    Speed 2, FLAG 1
     time 148.50   tot 179.68
   [ 4]     qtv    move FORWARD   dir NORTH  loc 1217,388  DistToNext 0.000000
    Speed 2, FLAG 2
     time 17.10   tot 196.78
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir NORTH  loc 1297,215  DistToNext 140.000000
    Speed 2, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir NORTH  loc 1297,355  DistToNext 0.000000
    Speed 2, FLAG 1
     time 126.00   tot 126.00
   [ 2]     qtv    move STBD_TURN   dir NORTH_EAST  loc 1297,355  DistToNext 118.793938
    Speed 0, FLAG 1
     time  0.00   tot 126.00
   [ 3]     qtv    move FORWARD   dir NORTH_EAST  loc 1381,439  DistToNext 0.000000
    Speed 4, FLAG 1
     time 53.46   tot 179.46
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir EAST  loc 1424,177  DistToNext 50.000000
    Speed 3, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir EAST  loc 1459,142  DistToNext 50.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir SOUTH_WEST  loc 1504,550  DistToNext 50.000000
    Speed 3, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir SOUTH_WEST  loc 1539,515  DistToNext 50.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir SOUTH_WEST  loc 1798,574  DistToNext 0.000000
    Speed 2, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move STBD_TURN   dir WEST  loc 1798,574  DistToNext 100.000000
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move FORWARD   dir WEST  loc 1698,574  DistToNext 0.000000
    Speed 1, FLAG 1
     time 180.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir NORTH  loc 249,717  DistToNext 120.000000
    Speed 2, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir NORTH  loc 249,837  DistToNext 0.000000
    Speed 2, FLAG 1
     time 108.00   tot 108.00
   [ 2]     qtv    move STBD_TURN   dir NORTH_EAST  loc 249,837  DistToNext 118.793938
    Speed 0, FLAG 1
     time  0.00   tot 108.00
   [ 3]     qtv    move FORWARD   dir NORTH_EAST  loc 333,921  DistToNext 0.000000
    Speed 4, FLAG 1
     time 53.46   tot 161.46
   [ 4]     qtv    move STBD_TURN   dir EAST  loc 333,921  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot 161.46
   [ 5]     qtv    move FORWARD   dir EAST  loc 393,921  DistToNext 0.000000
    Speed 6, FLAG 1
     time 18.00   tot 179.46
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir SOUTH  loc 839,1117  DistToNext 0.000000
    Speed 4, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move STBD_TURN   dir SOUTH_WEST  loc 839,1117  DistToNext 59.396969
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move FORWARD   dir SOUTH_WEST  loc 797,1075  DistToNext 0.000000
    Speed 2, FLAG 1
     time 53.46   tot 53.46
   [ 3]     qtv    move STBD_TURN   dir WEST  loc 797,1075  DistToNext 70.000000
    Speed 0, FLAG 1
     time  0.00   tot 53.46
   [ 4]     qtv    move FORWARD   dir WEST  loc 727,1075  DistToNext 0.000000
    Speed 1, FLAG 1
     time 126.00   tot 179.46
  End Path <===
* ==> Start Path
   [ 0]     qtv    move STBD_TURN   dir NORTH_WEST  loc 790,1300  DistToNext 50.000000
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir NORTH_WEST  loc 825,1265  DistToNext 0.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
   [ 2]     qtv    move PORT_TURN   dir WEST  loc 825,1265  DistToNext 50.000000
    Speed 0, FLAG 1
     time  0.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir NORTH  loc 1472,554  DistToNext 50.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir NORTH  loc 1507,519  DistToNext 50.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move PORT_TURN   dir WEST  loc 1139,1338  DistToNext 60.000000
    Speed 2, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir WEST  loc 1079,1338  DistToNext 0.000000
    Speed 2, FLAG 1
     time 54.00   tot 54.00
   [ 2]     qtv    move PORT_TURN   dir SOUTH_WEST  loc 1079,1338  DistToNext 59.396969
    Speed 0, FLAG 1
     time  0.00   tot 54.00
   [ 3]     qtv    move FORWARD   dir SOUTH_WEST  loc 1037,1296  DistToNext 0.000000
    Speed 3, FLAG 1
     time 35.64   tot 89.64
   [ 4]     qtv    move PORT_TURN   dir SOUTH  loc 1037,1296  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot 89.64
   [ 5]     qtv    move FORWARD   dir SOUTH  loc 1037,1236  DistToNext 0.000000
    Speed 5, FLAG 1
     time 21.60   tot 111.24
   [ 6]     qtv    move PORT_TURN   dir SOUTH_EAST  loc 1037,1236  DistToNext 59.396969
    Speed 0, FLAG 1
     time  0.00   tot 111.24
   [ 7]     qtv    move FORWARD   dir SOUTH_EAST  loc 1079,1194  DistToNext 0.000000
    Speed 4, FLAG 1
     time 26.73   tot 137.97
   [ 8]     qtv    move PORT_TURN   dir EAST  loc 1079,1194  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot 137.97
   [ 9]     qtv    move FORWARD   dir EAST  loc 1139,1194  DistToNext 0.000000
    Speed 5, FLAG 1
     time 21.60   tot 159.57
   [10]     qtv    move PORT_TURN   dir NORTH_EAST  loc 1139,1194  DistToNext 32.526913
    Speed 0, FLAG 1
     time  0.00   tot 159.57
   [11]     qtv    move FORWARD   dir NORTH_EAST  loc 1162,1217  DistToNext 5.656854
    Speed 3, FLAG 1
     time 19.52   tot 179.08
   [12]     qtv    move FORWARD   dir NORTH_EAST  loc 1158,1213  DistToNext 0.000000
    Speed 3, FLAG 2
     time  3.39   tot 182.48
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir NORTH  loc 293,1413  DistToNext 200.000000
    Speed 2, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir NORTH  loc 293,1613  DistToNext 0.000000
    Speed 2, FLAG 1
     time 180.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir EAST  loc 1077,1329  DistToNext 50.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir EAST  loc 1112,1294  DistToNext 0.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
   [ 2]     qtv    move PORT_TURN   dir NORTH_EAST  loc 1112,1294  DistToNext 50.000000
    Speed 0, FLAG 1
     time  0.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move PORT_TURN   dir EAST  loc 2110,-432  DistToNext 60.000000
    Speed 5, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir EAST  loc 2170,-432  DistToNext 0.000000
    Speed 5, FLAG 1
     time 21.60   tot 21.60
   [ 2]     qtv    move STBD_TURN   dir SOUTH_EAST  loc 2170,-432  DistToNext 347.896545
    Speed 0, FLAG 1
     time  0.00   tot 21.60
   [ 3]     qtv    move FORWARD   dir SOUTH_EAST  loc 2416,-678  DistToNext 43.840622
    Speed 4, FLAG 1
     time 156.55   tot 178.15
   [ 4]     qtv    move FORWARD   dir SOUTH_EAST  loc 2385,-647  DistToNext 0.000000
    Speed 4, FLAG 2
     time 19.73   tot 197.88
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir NORTH  loc 1468,680  DistToNext 0.000000
    Speed 2, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move STBD_TURN   dir NORTH_EAST  loc 1468,680  DistToNext 69.296463
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move FORWARD   dir NORTH_EAST  loc 1517,729  DistToNext 0.000000
    Speed 3, FLAG 1
     time 41.58   tot 41.58
   [ 3]     qtv    move STBD_TURN   dir EAST  loc 1517,729  DistToNext 70.000000
    Speed 0, FLAG 1
     time  0.00   tot 41.58
   [ 4]     qtv    move FORWARD   dir EAST  loc 1587,729  DistToNext 0.000000
    Speed 5, FLAG 1
     time 25.20   tot 66.78
   [ 5]     qtv    move STBD_TURN   dir SOUTH_EAST  loc 1587,729  DistToNext 138.592926
    Speed 0, FLAG 1
     time  0.00   tot 66.78
   [ 6]     qtv    move FORWARD   dir SOUTH_EAST  loc 1685,631  DistToNext 0.000000
    Speed 4, FLAG 1
     time 62.37   tot 129.14
   [ 7]     qtv    move STBD_TURN   dir SOUTH  loc 1685,631  DistToNext 138.000000
    Speed 0, FLAG 1
     time  0.00   tot 129.14
   [ 8]     qtv    move FORWARD   dir SOUTH  loc 1685,493  DistToNext 0.000000
    Speed 5, FLAG 1
     time 49.68   tot 178.82
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir NORTH  loc 1761,544  DistToNext 50.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir NORTH  loc 1796,509  DistToNext 50.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir WEST  loc 1422,142  DistToNext 50.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir WEST  loc 1457,107  DistToNext 50.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir NORTH_EAST  loc 1381,142  DistToNext 50.000000
    Speed 3, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir NORTH_EAST  loc 1416,107  DistToNext 50.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move STBD_TURN   dir NORTH  loc 1557,-473  DistToNext 60.000000
    Speed 2, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir NORTH  loc 1557,-413  DistToNext 0.000000
    Speed 2, FLAG 1
     time 54.00   tot 54.00
   [ 2]     qtv    move STBD_TURN   dir NORTH_EAST  loc 1557,-413  DistToNext 59.396969
    Speed 0, FLAG 1
     time  0.00   tot 54.00
   [ 3]     qtv    move FORWARD   dir NORTH_EAST  loc 1599,-371  DistToNext 0.000000
    Speed 3, FLAG 1
     time 35.64   tot 89.64
   [ 4]     qtv    move STBD_TURN   dir EAST  loc 1599,-371  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot 89.64
   [ 5]     qtv    move FORWARD   dir EAST  loc 1659,-371  DistToNext 0.000000
    Speed 5, FLAG 1
     time 21.60   tot 111.24
   [ 6]     qtv    move STBD_TURN   dir SOUTH_EAST  loc 1659,-371  DistToNext 149.906631
    Speed 0, FLAG 1
     time  0.00   tot 111.24
   [ 7]     qtv    move FORWARD   dir SOUTH_EAST  loc 1765,-477  DistToNext 4.242640
    Speed 4, FLAG 1
     time 67.46   tot 178.69
   [ 8]     qtv    move FORWARD   dir SOUTH_EAST  loc 1762,-474  DistToNext 0.000000
    Speed 4, FLAG 2
     time  1.91   tot 180.60
  End Path <===
* ==> Start Path
   [ 0]     qtv    move PORT_TURN   dir SOUTH  loc 2380,-1497  DistToNext 0.000000
    Speed 5, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move STBD_TURN   dir SOUTH_WEST  loc 2380,-1497  DistToNext 60.811184
    Speed 5, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move FORWARD   dir SOUTH_WEST  loc 2337,-1540  DistToNext 0.000000
    Speed 3, FLAG 1
     time 36.49   tot 36.49
   [ 3]     qtv    move STBD_TURN   dir WEST  loc 2337,-1540  DistToNext 60.000000
    Speed 3, FLAG 1
     time  0.00   tot 36.49
   [ 4]     qtv    move FORWARD   dir WEST  loc 2277,-1540  DistToNext 0.000000
    Speed 2, FLAG 1
     time 54.00   tot 90.49
   [ 5]     qtv    move STBD_TURN   dir NORTH_WEST  loc 2277,-1540  DistToNext 0.000000
    Speed 2, FLAG 1
     time  0.00   tot 90.49
   [ 6]     qtv    move STBD_TURN   dir NORTH  loc 2277,-1540  DistToNext 99.000000
    Speed 0, FLAG 1
     time  0.00   tot 90.49
   [ 7]     qtv    move FORWARD   dir NORTH  loc 2277,-1441  DistToNext 19.000000
    Speed 2, FLAG 1
     time 89.10   tot 179.59
   [ 8]     qtv    move FORWARD   dir NORTH  loc 2277,-1460  DistToNext 0.000000
    Speed 2, FLAG 2
     time 17.10   tot 196.69
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir WEST  loc 1069,1429  DistToNext 50.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir WEST  loc 1104,1394  DistToNext 50.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir NORTH  loc 1370,86  DistToNext 50.000000
    Speed 2, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir NORTH  loc 1405,51  DistToNext 50.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move NO_MOVE   dir NORTH_WEST  loc 1998,90  DistToNext 50.000000
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir NORTH_WEST  loc 2033,55  DistToNext 50.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir NORTH  loc 1727,-847  DistToNext 100.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir NORTH  loc 1727,-747  DistToNext 0.000000
    Speed 1, FLAG 1
     time 180.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move PORT_TURN   dir NORTH  loc 1217,369  DistToNext 70.000000
    Speed 2, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir NORTH  loc 1217,439  DistToNext 0.000000
    Speed 2, FLAG 1
     time 63.00   tot 63.00
   [ 2]     qtv    move STBD_TURN   dir NORTH_EAST  loc 1217,439  DistToNext 69.296463
    Speed 0, FLAG 1
     time  0.00   tot 63.00
   [ 3]     qtv    move FORWARD   dir NORTH_EAST  loc 1266,488  DistToNext 0.000000
    Speed 4, FLAG 1
     time 31.18   tot 94.18
   [ 4]     qtv    move STBD_TURN   dir EAST  loc 1266,488  DistToNext 70.000000
    Speed 0, FLAG 1
     time  0.00   tot 94.18
   [ 5]     qtv    move FORWARD   dir EAST  loc 1336,488  DistToNext 0.000000
    Speed 6, FLAG 1
     time 21.00   tot 115.18
   [ 6]     qtv    move STBD_TURN   dir SOUTH_EAST  loc 1336,488  DistToNext 69.296463
    Speed 0, FLAG 1
     time  0.00   tot 115.18
   [ 7]     qtv    move FORWARD   dir SOUTH_EAST  loc 1385,439  DistToNext 0.000000
    Speed 5, FLAG 1
     time 24.95   tot 140.13
   [ 8]     qtv    move STBD_TURN   dir SOUTH  loc 1385,439  DistToNext 131.000000
    Speed 0, FLAG 1
     time  0.00   tot 140.13
   [ 9]     qtv    move FORWARD   dir SOUTH  loc 1385,308  DistToNext 53.000000
    Speed 6, FLAG 1
     time 39.30   tot 179.43
   [10]     qtv    move FORWARD   dir SOUTH  loc 1385,361  DistToNext 0.000000
    Speed 6, FLAG 2
     time 15.90   tot 195.33
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir NORTH_EAST  loc 1381,439  DistToNext 0.000000
    Speed 4, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move PORT_TURN   dir NORTH  loc 1381,439  DistToNext 70.000000
    Speed 4, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move FORWARD   dir NORTH  loc 1381,509  DistToNext 0.000000
    Speed 2, FLAG 1
     time 63.00   tot 63.00
   [ 3]     qtv    move PORT_TURN   dir NORTH_WEST  loc 1381,509  DistToNext 70.710678
    Speed 2, FLAG 1
     time  0.00   tot 63.00
   [ 4]     qtv    move FORWARD   dir NORTH_WEST  loc 1331,559  DistToNext 0.000000
    Speed 2, FLAG 1
     time 63.64   tot 126.64
   [ 5]     qtv    move PORT_TURN   dir WEST  loc 1331,559  DistToNext 0.000000
    Speed 2, FLAG 1
     time  0.00   tot 126.64
   [ 6]     qtv    move PORT_TURN   dir SOUTH_WEST  loc 1331,559  DistToNext 70.710678
    Speed 0, FLAG 1
     time  0.00   tot 126.64
   [ 7]     qtv    move FORWARD   dir SOUTH_WEST  loc 1281,509  DistToNext 0.000000
    Speed 4, FLAG 1
     time 31.82   tot 158.46
   [ 8]     qtv    move STBD_TURN   dir WEST  loc 1281,509  DistToNext 23.000000
    Speed 4, FLAG 1
     time  0.00   tot 158.46
   [ 9]     qtv    move FORWARD   dir WEST  loc 1258,509  DistToNext 23.000000
    Speed 2, FLAG 1
     time 20.70   tot 179.16
   [10]     qtv    move FORWARD   dir WEST  loc 1235,509  DistToNext 0.000000
    Speed 2, FLAG 2
     time 20.70   tot 199.86
  End Path <===
* ==> Start Path
   [ 0]     qtv    move PORT_TURN   dir NORTH_EAST  loc 1369,232  DistToNext 50.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir NORTH_EAST  loc 1404,197  DistToNext 50.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir SOUTH_WEST  loc 1538,516  DistToNext 50.000000
    Speed 3, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir SOUTH_WEST  loc 1573,481  DistToNext 50.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir WEST  loc 1832,540  DistToNext 100.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir WEST  loc 1732,540  DistToNext 0.000000
    Speed 1, FLAG 1
     time 180.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir EAST  loc 393,921  DistToNext 0.000000
    Speed 6, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move PORT_TURN   dir NORTH_EAST  loc 393,921  DistToNext 60.811184
    Speed 6, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move FORWARD   dir NORTH_EAST  loc 436,964  DistToNext 0.000000
    Speed 4, FLAG 1
     time 27.36   tot 27.36
   [ 3]     qtv    move PORT_TURN   dir NORTH  loc 436,964  DistToNext 60.000000
    Speed 4, FLAG 1
     time  0.00   tot 27.36
   [ 4]     qtv    move FORWARD   dir NORTH  loc 436,1024  DistToNext 0.000000
    Speed 2, FLAG 1
     time 54.00   tot 81.36
   [ 5]     qtv    move PORT_TURN   dir NORTH_WEST  loc 436,1024  DistToNext 0.000000
    Speed 2, FLAG 1
     time  0.00   tot 81.36
   [ 6]     qtv    move PORT_TURN   dir WEST  loc 436,1024  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot 81.36
   [ 7]     qtv    move FORWARD   dir WEST  loc 376,1024  DistToNext 0.000000
    Speed 2, FLAG 1
     time 54.00   tot 135.36
   [ 8]     qtv    move STBD_TURN   dir NORTH_WEST  loc 376,1024  DistToNext 12.398605
    Speed 2, FLAG 1
     time  0.00   tot 135.36
   [ 9]     qtv    move FORWARD   dir NORTH_WEST  loc 384,1016  DistToNext 12.398605
    Speed -1, FLAG 1
     time 44.63   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir WEST  loc 727,1075  DistToNext 0.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move PORT_TURN   dir SOUTH_WEST  loc 727,1075  DistToNext 59.396969
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move FORWARD   dir SOUTH_WEST  loc 685,1033  DistToNext 0.000000
    Speed 2, FLAG 1
     time 53.46   tot 53.46
   [ 3]     qtv    move PORT_TURN   dir SOUTH  loc 685,1033  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot 53.46
   [ 4]     qtv    move FORWARD   dir SOUTH  loc 685,973  DistToNext 0.000000
    Speed 4, FLAG 1
     time 27.00   tot 80.46
   [ 5]     qtv    move PORT_TURN   dir SOUTH_EAST  loc 685,973  DistToNext 59.396969
    Speed 0, FLAG 1
     time  0.00   tot 80.46
   [ 6]     qtv    move FORWARD   dir SOUTH_EAST  loc 727,931  DistToNext 0.000000
    Speed 3, FLAG 1
     time 35.64   tot 116.09
   [ 7]     qtv    move PORT_TURN   dir EAST  loc 727,931  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot 116.09
   [ 8]     qtv    move FORWARD   dir EAST  loc 787,931  DistToNext 0.000000
    Speed 4, FLAG 1
     time 27.00   tot 143.09
   [ 9]     qtv    move PORT_TURN   dir NORTH_EAST  loc 787,931  DistToNext 39.597980
    Speed 0, FLAG 1
     time  0.00   tot 143.09
   [10]     qtv    move FORWARD   dir NORTH_EAST  loc 815,959  DistToNext 19.798990
    Speed 2, FLAG 1
     time 35.64   tot 178.73
   [11]     qtv    move FORWARD   dir NORTH_EAST  loc 801,945  DistToNext 0.000000
    Speed 2, FLAG 2
     time 17.82   tot 196.55
  End Path <===
* ==> Start Path
   [ 0]     qtv    move PORT_TURN   dir WEST  loc 825,1265  DistToNext 60.000000
    Speed 2, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move BACK_SAIL   dir WEST  loc 765,1265  DistToNext 0.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move FORWARD   dir WEST  loc 765,1265  DistToNext 0.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 3]     qtv    move PORT_TURN   dir SOUTH_WEST  loc 765,1265  DistToNext 59.396969
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 4]     qtv    move FORWARD   dir SOUTH_WEST  loc 723,1223  DistToNext 0.000000
    Speed 3, FLAG 1
     time 35.64   tot 35.64
   [ 5]     qtv    move PORT_TURN   dir SOUTH  loc 723,1223  DistToNext 330.000000
    Speed 0, FLAG 1
     time  0.00   tot 35.64
   [ 6]     qtv    move FORWARD   dir SOUTH  loc 723,893  DistToNext 1.000000
    Speed 5, FLAG 1
     time 118.80   tot 154.44
   [ 7]     qtv    move FORWARD   dir SOUTH  loc 723,894  DistToNext 0.000000
    Speed 5, FLAG 2
     time  0.36   tot 154.80
   [ 8]     qtv    move NO_DIRECTION   dir SOUTH  loc 723,894  DistToNext 0.000000
    Speed 0, FLAG 1
     time  0.00   tot 154.80
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir NORTH  loc 1506,520  DistToNext 50.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir NORTH  loc 1541,485  DistToNext 50.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir WEST  loc 1164,1305  DistToNext 0.000000
    Speed 2, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move PORT_TURN   dir SOUTH_WEST  loc 1164,1305  DistToNext 59.396969
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move FORWARD   dir SOUTH_WEST  loc 1122,1263  DistToNext 0.000000
    Speed 3, FLAG 1
     time 35.64   tot 35.64
   [ 3]     qtv    move PORT_TURN   dir SOUTH  loc 1122,1263  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot 35.64
   [ 4]     qtv    move FORWARD   dir SOUTH  loc 1122,1203  DistToNext 0.000000
    Speed 5, FLAG 1
     time 21.60   tot 57.24
   [ 5]     qtv    move PORT_TURN   dir SOUTH_EAST  loc 1122,1203  DistToNext 59.396969
    Speed 0, FLAG 1
     time  0.00   tot 57.24
   [ 6]     qtv    move FORWARD   dir SOUTH_EAST  loc 1164,1161  DistToNext 0.000000
    Speed 4, FLAG 1
     time 26.73   tot 83.97
   [ 7]     qtv    move PORT_TURN   dir EAST  loc 1164,1161  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot 83.97
   [ 8]     qtv    move FORWARD   dir EAST  loc 1224,1161  DistToNext 0.000000
    Speed 5, FLAG 1
     time 21.60   tot 105.57
   [ 9]     qtv    move PORT_TURN   dir NORTH_EAST  loc 1224,1161  DistToNext 59.396969
    Speed 0, FLAG 1
     time  0.00   tot 105.57
   [10]     qtv    move FORWARD   dir NORTH_EAST  loc 1266,1203  DistToNext 0.000000
    Speed 3, FLAG 1
     time 35.64   tot 141.20
   [11]     qtv    move PORT_TURN   dir NORTH  loc 1266,1203  DistToNext 42.000000
    Speed 0, FLAG 1
     time  0.00   tot 141.20
   [12]     qtv    move FORWARD   dir NORTH  loc 1266,1245  DistToNext 25.000000
    Speed 2, FLAG 1
     time 37.80   tot 179.00
   [13]     qtv    move FORWARD   dir NORTH  loc 1266,1220  DistToNext 0.000000
    Speed 2, FLAG 2
     time 22.50   tot 201.50
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir NORTH  loc 293,1613  DistToNext 0.000000
    Speed 2, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move STBD_TURN   dir NORTH_EAST  loc 293,1613  DistToNext 118.793938
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move FORWARD   dir NORTH_EAST  loc 377,1697  DistToNext 0.000000
    Speed 3, FLAG 1
     time 71.28   tot 71.28
   [ 3]     qtv    move STBD_TURN   dir EAST  loc 377,1697  DistToNext 240.000000
    Speed 0, FLAG 1
     time  0.00   tot 71.28
   [ 4]     qtv    move FORWARD   dir EAST  loc 617,1697  DistToNext 0.000000
    Speed 5, FLAG 1
     time 86.40   tot 157.68
   [ 5]     qtv    move STBD_TURN   dir SOUTH_EAST  loc 617,1697  DistToNext 46.669048
    Speed 0, FLAG 1
     time  0.00   tot 157.68
   [ 6]     qtv    move FORWARD   dir SOUTH_EAST  loc 650,1664  DistToNext 24.041630
    Speed 4, FLAG 1
     time 21.00   tot 178.68
   [ 7]     qtv    move FORWARD   dir SOUTH_EAST  loc 667,1647  DistToNext 0.000000
    Speed 4, FLAG 2
     time 10.82   tot 189.49
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir EAST  loc 1114,1292  DistToNext 50.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir EAST  loc 1149,1257  DistToNext 0.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
   [ 2]     qtv    move PORT_TURN   dir NORTH_EAST  loc 1149,1257  DistToNext 50.000000
    Speed 0, FLAG 1
     time  0.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move PORT_TURN   dir SOUTH_EAST  loc 2416,-678  DistToNext 59.396969
    Speed 4, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir SOUTH_EAST  loc 2458,-720  DistToNext 0.000000
    Speed 4, FLAG 1
     time 26.73   tot 26.73
   [ 2]     qtv    move STBD_TURN   dir SOUTH  loc 2458,-720  DistToNext 425.000000
    Speed 0, FLAG 1
     time  0.00   tot 26.73
   [ 3]     qtv    move FORWARD   dir SOUTH  loc 2458,-1145  DistToNext 49.000000
    Speed 5, FLAG 1
     time 153.00   tot 179.73
   [ 4]     qtv    move FORWARD   dir SOUTH  loc 2458,-1194  DistToNext 0.000000
    Speed 5, FLAG 2
     time 17.64   tot 197.37
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir SOUTH  loc 1685,493  DistToNext 0.000000
    Speed 5, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move STBD_TURN   dir SOUTH_WEST  loc 1685,493  DistToNext 69.296463
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move FORWARD   dir SOUTH_WEST  loc 1636,444  DistToNext 0.000000
    Speed 3, FLAG 1
     time 41.58   tot 41.58
   [ 3]     qtv    move STBD_TURN   dir WEST  loc 1636,444  DistToNext 70.000000
    Speed 0, FLAG 1
     time  0.00   tot 41.58
   [ 4]     qtv    move FORWARD   dir WEST  loc 1566,444  DistToNext 0.000000
    Speed 2, FLAG 1
     time 63.00   tot 104.58
   [ 5]     qtv    move PORT_TURN   dir SOUTH_WEST  loc 1566,444  DistToNext 69.296463
    Speed 0, FLAG 1
     time  0.00   tot 104.58
   [ 6]     qtv    move FORWARD   dir SOUTH_WEST  loc 1517,395  DistToNext 0.000000
    Speed 3, FLAG 1
     time 41.58   tot 146.15
   [ 7]     qtv    move PORT_TURN   dir SOUTH  loc 1517,395  DistToNext 70.000000
    Speed 0, FLAG 1
     time  0.00   tot 146.15
   [ 8]     qtv    move FORWARD   dir SOUTH  loc 1517,325  DistToNext 0.000000
    Speed 5, FLAG 1
     time 25.20   tot 171.35
   [ 9]     qtv    move PORT_TURN   dir SOUTH_EAST  loc 1517,325  DistToNext 16.970562
    Speed 0, FLAG 1
     time  0.00   tot 171.35
   [10]     qtv    move FORWARD   dir SOUTH_EAST  loc 1529,313  DistToNext 35.355339
    Speed 4, FLAG 1
     time  7.64   tot 178.99
   [11]     qtv    move FORWARD   dir SOUTH_EAST  loc 1554,288  DistToNext 0.000000
    Speed 4, FLAG 2
     time 15.91   tot 194.90
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir NORTH  loc 1795,510  DistToNext 50.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir NORTH  loc 1830,475  DistToNext 50.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir WEST  loc 1456,108  DistToNext 50.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir WEST  loc 1491,73  DistToNext 50.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir NORTH_EAST  loc 1418,195  DistToNext 50.000000
    Speed 3, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir NORTH_EAST  loc 1453,160  DistToNext 50.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move STBD_TURN   dir SOUTH_EAST  loc 1765,-477  DistToNext 59.396969
    Speed 4, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir SOUTH_EAST  loc 1807,-519  DistToNext 0.000000
    Speed 4, FLAG 1
     time 26.73   tot 26.73
   [ 2]     qtv    move STBD_TURN   dir SOUTH  loc 1807,-519  DistToNext 425.000000
    Speed 0, FLAG 1
     time  0.00   tot 26.73
   [ 3]     qtv    move FORWARD   dir SOUTH  loc 1807,-944  DistToNext 0.000000
    Speed 5, FLAG 1
     time 153.00   tot 179.73
  End Path <===
* ==> Start Path
   [ 0]     qtv    move PORT_TURN   dir NORTH  loc 2277,-1441  DistToNext 60.000000
    Speed 2, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir NORTH  loc 2277,-1381  DistToNext 0.000000
    Speed 2, FLAG 1
     time 54.00   tot 54.00
   [ 2]     qtv    move STBD_TURN   dir NORTH_EAST  loc 2277,-1381  DistToNext 59.396969
    Speed 0, FLAG 1
     time  0.00   tot 54.00
   [ 3]     qtv    move FORWARD   dir NORTH_EAST  loc 2319,-1339  DistToNext 0.000000
    Speed 3, FLAG 1
     time 35.64   tot 89.64
   [ 4]     qtv    move STBD_TURN   dir EAST  loc 2319,-1339  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot 89.64
   [ 5]     qtv    move FORWARD   dir EAST  loc 2379,-1339  DistToNext 0.000000
    Speed 5, FLAG 1
     time 21.60   tot 111.24
   [ 6]     qtv    move STBD_TURN   dir SOUTH_EAST  loc 2379,-1339  DistToNext 149.906631
    Speed 0, FLAG 1
     time  0.00   tot 111.24
   [ 7]     qtv    move FORWARD   dir SOUTH_EAST  loc 2485,-1445  DistToNext 4.242640
    Speed 4, FLAG 1
     time 67.46   tot 178.69
   [ 8]     qtv    move FORWARD   dir SOUTH_EAST  loc 2482,-1442  DistToNext 0.000000
    Speed 4, FLAG 2
     time  1.91   tot 180.60
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir WEST  loc 1104,1394  DistToNext 50.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir WEST  loc 1139,1359  DistToNext 0.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
   [ 2]     qtv    move PORT_TURN   dir SOUTH_WEST  loc 1139,1359  DistToNext 50.000000
    Speed 0, FLAG 1
     time  0.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir NORTH  loc 1404,142  DistToNext 50.000000
    Speed 2, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir NORTH  loc 1439,107  DistToNext 50.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir NORTH_WEST  loc 2033,55  DistToNext 50.000000
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir NORTH_WEST  loc 2068,20  DistToNext 0.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
   [ 2]     qtv    move STBD_TURN   dir NORTH  loc 2068,20  DistToNext 50.000000
    Speed 0, FLAG 1
     time  0.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir NORTH  loc 1727,-747  DistToNext 0.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move STBD_TURN   dir NORTH_EAST  loc 1727,-747  DistToNext 69.296463
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move FORWARD   dir NORTH_EAST  loc 1776,-698  DistToNext 0.000000
    Speed 2, FLAG 1
     time 62.37   tot 62.37
   [ 3]     qtv    move STBD_TURN   dir EAST  loc 1776,-698  DistToNext 70.000000
    Speed 0, FLAG 1
     time  0.00   tot 62.37
   [ 4]     qtv    move FORWARD   dir EAST  loc 1846,-698  DistToNext 0.000000
    Speed 2, FLAG 1
     time 63.00   tot 125.37
   [ 5]     qtv    move STBD_TURN   dir SOUTH_EAST  loc 1846,-698  DistToNext 59.396969
    Speed 0, FLAG 1
     time  0.00   tot 125.37
   [ 6]     qtv    move FORWARD   dir SOUTH_EAST  loc 1888,-740  DistToNext 49.497475
    Speed 2, FLAG 1
     time 53.46   tot 178.82
   [ 7]     qtv    move FORWARD   dir SOUTH_EAST  loc 1853,-705  DistToNext 0.000000
    Speed 2, FLAG 2
     time 44.55   tot 223.37
  End Path <===
* ==> Start Path
   [ 0]     qtv    move PORT_TURN   dir SOUTH  loc 1385,308  DistToNext 70.000000
    Speed 6, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir SOUTH  loc 1385,238  DistToNext 0.000000
    Speed 6, FLAG 1
     time 21.00   tot 21.00
   [ 2]     qtv    move PORT_TURN   dir SOUTH_EAST  loc 1385,238  DistToNext 138.592926
    Speed 0, FLAG 1
     time  0.00   tot 21.00
   [ 3]     qtv    move FORWARD   dir SOUTH_EAST  loc 1483,140  DistToNext 0.000000
    Speed 5, FLAG 1
     time 49.89   tot 70.89
   [ 4]     qtv    move PORT_TURN   dir EAST  loc 1483,140  DistToNext 70.000000
    Speed 6, FLAG 1
     time  0.00   tot 70.89
   [ 5]     qtv    move FORWARD   dir EAST  loc 1553,140  DistToNext 0.000000
    Speed 6, FLAG 1
     time 21.00   tot 91.89
   [ 6]     qtv    move PORT_TURN   dir NORTH_EAST  loc 1553,140  DistToNext 70.710678
    Speed 6, FLAG 1
     time  0.00   tot 91.89
   [ 7]     qtv    move FORWARD   dir NORTH_EAST  loc 1603,190  DistToNext 0.000000
    Speed 4, FLAG 1
     time 31.82   tot 123.71
   [ 8]     qtv    move PORT_TURN   dir NORTH  loc 1603,190  DistToNext 0.000000
    Speed 4, FLAG 1
     time  0.00   tot 123.71
   [ 9]     qtv    move PORT_TURN   dir NORTH_WEST  loc 1603,190  DistToNext 70.710678
    Speed 0, FLAG 1
     time  0.00   tot 123.71
   [10]     qtv    move FORWARD   dir NORTH_WEST  loc 1553,240  DistToNext 0.000000
    Speed 4, FLAG 1
     time 31.82   tot 155.53
   [11]     qtv    move PORT_TURN   dir WEST  loc 1553,240  DistToNext 27.000000
    Speed 4, FLAG 1
     time  0.00   tot 155.53
   [12]     qtv    move FORWARD   dir WEST  loc 1526,240  DistToNext 15.000000
    Speed 2, FLAG 1
     time 24.30   tot 179.83
   [13]     qtv    move FORWARD   dir WEST  loc 1511,240  DistToNext 0.000000
    Speed 2, FLAG 2
     time 13.50   tot 193.33
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir WEST  loc 1258,509  DistToNext 0.000000
    Speed 2, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move PORT_TURN   dir SOUTH_WEST  loc 1258,509  DistToNext 0.000000
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move STBD_TURN   dir WEST  loc 1258,509  DistToNext 70.000000
    Speed 2, FLAG 1
     time  0.00   tot  0.00
   [ 3]     qtv    move FORWARD   dir WEST  loc 1188,509  DistToNext 0.000000
    Speed 2, FLAG 1
     time 63.00   tot 63.00
   [ 4]     qtv    move STBD_TURN   dir NORTH_WEST  loc 1188,509  DistToNext 70.710678
    Speed 2, FLAG 1
     time  0.00   tot 63.00
   [ 5]     qtv    move FORWARD   dir NORTH_WEST  loc 1138,559  DistToNext 0.000000
    Speed 2, FLAG 1
     time 63.64   tot 126.64
   [ 6]     qtv    move STBD_TURN   dir NORTH  loc 1138,559  DistToNext 0.000000
    Speed 2, FLAG 1
     time  0.00   tot 126.64
   [ 7]     qtv    move STBD_TURN   dir NORTH_EAST  loc 1138,559  DistToNext 70.710678
    Speed 0, FLAG 1
     time  0.00   tot 126.64
   [ 8]     qtv    move FORWARD   dir NORTH_EAST  loc 1188,609  DistToNext 0.000000
    Speed 4, FLAG 1
     time 31.82   tot 158.46
   [ 9]     qtv    move PORT_TURN   dir NORTH  loc 1188,609  DistToNext 23.000000
    Speed 4, FLAG 1
     time  0.00   tot 158.46
   [10]     qtv    move FORWARD   dir NORTH  loc 1188,632  DistToNext 23.000000
    Speed 2, FLAG 1
     time 20.70   tot 179.16
   [11]     qtv    move FORWARD   dir NORTH  loc 1188,655  DistToNext 0.000000
    Speed 2, FLAG 2
     time 20.70   tot 199.86
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir NORTH_EAST  loc 1404,197  DistToNext 50.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir NORTH_EAST  loc 1439,162  DistToNext 50.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir SOUTH_WEST  loc 1572,482  DistToNext 0.000000
    Speed 3, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move STBD_TURN   dir WEST  loc 1572,482  DistToNext 100.000000
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move FORWARD   dir WEST  loc 1472,482  DistToNext 0.000000
    Speed 1, FLAG 1
     time 180.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir WEST  loc 1866,506  DistToNext 100.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir WEST  loc 1766,506  DistToNext 0.000000
    Speed 1, FLAG 1
     time 180.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir NORTH_WEST  loc 384,1016  DistToNext 50.000000
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir NORTH_WEST  loc 419,981  DistToNext 50.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir NORTH_EAST  loc 815,959  DistToNext 0.000000
    Speed 2, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move STBD_TURN   dir EAST  loc 815,959  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move FORWARD   dir EAST  loc 875,959  DistToNext 0.000000
    Speed 4, FLAG 1
     time 27.00   tot 27.00
   [ 3]     qtv    move STBD_TURN   dir SOUTH_EAST  loc 875,959  DistToNext 59.396969
    Speed 0, FLAG 1
     time  0.00   tot 27.00
   [ 4]     qtv    move FORWARD   dir SOUTH_EAST  loc 917,917  DistToNext 0.000000
    Speed 3, FLAG 1
     time 35.64   tot 62.64
   [ 5]     qtv    move STBD_TURN   dir SOUTH  loc 917,917  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot 62.64
   [ 6]     qtv    move FORWARD   dir SOUTH  loc 917,857  DistToNext 0.000000
    Speed 4, FLAG 1
     time 27.00   tot 89.64
   [ 7]     qtv    move STBD_TURN   dir SOUTH_WEST  loc 917,857  DistToNext 60.811184
    Speed 0, FLAG 1
     time  0.00   tot 89.64
   [ 8]     qtv    move FORWARD   dir SOUTH_WEST  loc 874,814  DistToNext 0.000000
    Speed 2, FLAG 1
     time 54.73   tot 144.37
   [ 9]     qtv    move STBD_TURN   dir WEST  loc 874,814  DistToNext 60.000000
    Speed 2, FLAG 1
     time  0.00   tot 144.37
   [10]     qtv    move FORWARD   dir WEST  loc 814,814  DistToNext 0.000000
    Speed 1, FLAG 1
     time 108.00   tot 252.37
   [11]     qtv    move STBD_TURN   dir NORTH_WEST  loc 814,814  DistToNext 0.000000
    Speed 1, FLAG 1
     time  0.00   tot 252.37
   [12]     qtv    move STBD_TURN   dir NORTH  loc 814,814  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot 252.37
   [13]     qtv    move FORWARD   dir NORTH  loc 814,874  DistToNext 0.000000
    Speed 1, FLAG 1
     time 108.00   tot 360.37
   [14]     qtv    move STBD_TURN   dir NORTH_EAST  loc 814,874  DistToNext 59.396969
    Speed 1, FLAG 1
     time  0.00   tot 360.37
   [15]     qtv    move FORWARD   dir NORTH_EAST  loc 856,916  DistToNext 0.000000
    Speed 2, FLAG 1
     time 53.46   tot 413.82
   [16]     qtv    move PORT_TURN   dir NORTH  loc 856,916  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot 413.82
   [17]     qtv    move FORWARD   dir NORTH  loc 856,976  DistToNext 0.000000
    Speed 1, FLAG 1
     time 108.00   tot 521.82
   [18]     qtv    move PORT_TURN   dir NORTH_WEST  loc 856,976  DistToNext 60.811184
    Speed 1, FLAG 1
     time  0.00   tot 521.82
   [19]     qtv    move FORWARD   dir NORTH_WEST  loc 813,1019  DistToNext 0.000000
    Speed 1, FLAG 1
     time 109.46   tot 631.28
   [20]     qtv    move PORT_TURN   dir WEST  loc 813,1019  DistToNext 0.000000
    Speed 1, FLAG 1
     time  0.00   tot 631.28
   [21]     qtv    move PORT_TURN   dir SOUTH_WEST  loc 813,1019  DistToNext 60.811184
    Speed 0, FLAG 1
     time  0.00   tot 631.28
   [22]     qtv    move FORWARD   dir SOUTH_WEST  loc 770,976  DistToNext 0.000000
    Speed 2, FLAG 1
     time 54.73   tot 686.01
   [23]     qtv    move STBD_TURN   dir WEST  loc 770,976  DistToNext 20.000000
    Speed 2, FLAG 1
     time  0.00   tot 686.01
   [24]     qtv    move FORWARD   dir WEST  loc 750,976  DistToNext 19.000000
    Speed 1, FLAG 1
     time 36.00   tot 722.01
   [25]     qtv    move FORWARD   dir WEST  loc 731,976  DistToNext 0.000000
    Speed 1, FLAG 2
     time 34.20   tot 756.21
  End Path <===
* ==> Start Path
   [ 0]     qtv    move PORT_TURN   dir SOUTH  loc 723,893  DistToNext 60.000000
    Speed 5, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir SOUTH  loc 723,833  DistToNext 0.000000
    Speed 5, FLAG 1
     time 21.60   tot 21.60
   [ 2]     qtv    move STBD_TURN   dir SOUTH_WEST  loc 723,833  DistToNext 260.215302
    Speed 0, FLAG 1
     time  0.00   tot 21.60
   [ 3]     qtv    move FORWARD   dir SOUTH_WEST  loc 539,649  DistToNext 12.727922
    Speed 3, FLAG 1
     time 156.13   tot 177.73
   [ 4]     qtv    move FORWARD   dir SOUTH_WEST  loc 530,640  DistToNext 0.000000
    Speed 3, FLAG 2
     time  7.64   tot 185.36
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir NORTH  loc 1450,576  DistToNext 0.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move BACK_SAIL   dir NORTH_EAST  loc 1450,576  DistToNext 59.396969
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move STBD_TURN   dir NORTH_EAST  loc 1450,576  DistToNext 59.396969
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 3]     qtv    move FORWARD   dir NORTH_EAST  loc 1492,618  DistToNext 0.000000
    Speed 1, FLAG 1
     time 106.91   tot 106.91
   [ 4]     qtv    move STBD_TURN   dir EAST  loc 1492,618  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot 106.91
   [ 5]     qtv    move FORWARD   dir EAST  loc 1552,618  DistToNext 0.000000
    Speed 3, FLAG 1
     time 36.00   tot 142.91
   [ 6]     qtv    move STBD_TURN   dir SOUTH_EAST  loc 1552,618  DistToNext 26.870058
    Speed 0, FLAG 1
     time  0.00   tot 142.91
   [ 7]     qtv    move FORWARD   dir SOUTH_EAST  loc 1571,599  DistToNext 5.656854
    Speed 3, FLAG 1
     time 16.12   tot 159.04
   [ 8]     qtv    move FORWARD   dir SOUTH_EAST  loc 1575,595  DistToNext 0.000000
    Speed 3, FLAG 2
     time  3.39   tot 162.43
   [ 9]     qtv    move NO_DIRECTION   dir SOUTH_EAST  loc 1575,595  DistToNext 59.396969
    Speed 0, FLAG 1
     time  0.00   tot 162.43
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir SOUTH_WEST  loc 1196,1269  DistToNext 0.000000
    Speed 3, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move PORT_TURN   dir SOUTH  loc 1196,1269  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move FORWARD   dir SOUTH  loc 1196,1209  DistToNext 0.000000
    Speed 5, FLAG 1
     time 21.60   tot 21.60
   [ 3]     qtv    move STBD_TURN   dir SOUTH_WEST  loc 1196,1209  DistToNext 60.811184
    Speed 0, FLAG 1
     time  0.00   tot 21.60
   [ 4]     qtv    move FORWARD   dir SOUTH_WEST  loc 1153,1166  DistToNext 0.000000
    Speed 3, FLAG 1
     time 36.49   tot 58.09
   [ 5]     qtv    move STBD_TURN   dir WEST  loc 1153,1166  DistToNext 60.000000
    Speed 3, FLAG 1
     time  0.00   tot 58.09
   [ 6]     qtv    move FORWARD   dir WEST  loc 1093,1166  DistToNext 0.000000
    Speed 2, FLAG 1
     time 54.00   tot 112.09
   [ 7]     qtv    move STBD_TURN   dir NORTH_WEST  loc 1093,1166  DistToNext 0.000000
    Speed 2, FLAG 1
     time  0.00   tot 112.09
   [ 8]     qtv    move STBD_TURN   dir NORTH  loc 1093,1166  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot 112.09
   [ 9]     qtv    move FORWARD   dir NORTH  loc 1093,1226  DistToNext 0.000000
    Speed 2, FLAG 1
     time 54.00   tot 166.09
   [10]     qtv    move STBD_TURN   dir NORTH_EAST  loc 1093,1226  DistToNext 59.396969
    Speed 2, FLAG 1
     time  0.00   tot 166.09
   [11]     qtv    move FORWARD   dir NORTH_EAST  loc 1135,1268  DistToNext 0.000000
    Speed 3, FLAG 1
     time 35.64   tot 201.72
   [12]     qtv    move PORT_TURN   dir NORTH  loc 1135,1268  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot 201.72
   [13]     qtv    move FORWARD   dir NORTH  loc 1135,1328  DistToNext 0.000000
    Speed 2, FLAG 1
     time 54.00   tot 255.72
   [14]     qtv    move PORT_TURN   dir NORTH_WEST  loc 1135,1328  DistToNext 60.811184
    Speed 2, FLAG 1
     time  0.00   tot 255.72
   [15]     qtv    move FORWARD   dir NORTH_WEST  loc 1092,1371  DistToNext 0.000000
    Speed 2, FLAG 1
     time 54.73   tot 310.45
   [16]     qtv    move PORT_TURN   dir WEST  loc 1092,1371  DistToNext 0.000000
    Speed 2, FLAG 1
     time  0.00   tot 310.45
   [17]     qtv    move PORT_TURN   dir SOUTH_WEST  loc 1092,1371  DistToNext 60.811184
    Speed 0, FLAG 1
     time  0.00   tot 310.45
   [18]     qtv    move FORWARD   dir SOUTH_WEST  loc 1049,1328  DistToNext 0.000000
    Speed 3, FLAG 1
     time 36.49   tot 346.94
   [19]     qtv    move STBD_TURN   dir WEST  loc 1049,1328  DistToNext 60.000000
    Speed 3, FLAG 1
     time  0.00   tot 346.94
   [20]     qtv    move FORWARD   dir WEST  loc 989,1328  DistToNext 0.000000
    Speed 2, FLAG 1
     time 54.00   tot 400.94
   [21]     qtv    move STBD_TURN   dir NORTH_WEST  loc 989,1328  DistToNext 60.811184
    Speed 0, FLAG 1
     time  0.00   tot 400.94
   [22]     qtv    move FORWARD   dir NORTH_WEST  loc 946,1371  DistToNext 0.000000
    Speed 0, FLAG 1
     time   inf   tot   inf
   [23]     qtv    move STBD_TURN   dir NORTH  loc 946,1371  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot   inf
   [24]     qtv    move FORWARD   dir NORTH  loc 946,1431  DistToNext 0.000000
    Speed 2, FLAG 1
     time 54.00   tot   inf
   [25]     qtv    move STBD_TURN   dir NORTH_EAST  loc 946,1431  DistToNext 0.000000
    Speed 2, FLAG 1
     time  0.00   tot   inf
   [26]     qtv    move STBD_TURN   dir EAST  loc 946,1431  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot   inf
   [27]     qtv    move FORWARD   dir EAST  loc 1006,1431  DistToNext 0.000000
    Speed 5, FLAG 1
     time 21.60   tot   inf
   [28]     qtv    move STBD_TURN   dir SOUTH_EAST  loc 1006,1431  DistToNext 59.396969
    Speed 5, FLAG 1
     time  0.00   tot   inf
   [29]     qtv    move FORWARD   dir SOUTH_EAST  loc 1048,1389  DistToNext 0.000000
    Speed 4, FLAG 1
     time 26.73   tot   inf
   [30]     qtv    move STBD_TURN   dir SOUTH  loc 1048,1389  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot   inf
   [31]     qtv    move FORWARD   dir SOUTH  loc 1048,1329  DistToNext 0.000000
    Speed 5, FLAG 1
     time 21.60   tot   inf
   [32]     qtv    move STBD_TURN   dir SOUTH_WEST  loc 1048,1329  DistToNext 60.811184
    Speed 5, FLAG 1
     time  0.00   tot   inf
   [33]     qtv    move FORWARD   dir SOUTH_WEST  loc 1005,1286  DistToNext 0.000000
    Speed 3, FLAG 1
     time 36.49   tot   inf
   [34]     qtv    move STBD_TURN   dir WEST  loc 1005,1286  DistToNext 0.000000
    Speed 3, FLAG 1
     time  0.00   tot   inf
   [35]     qtv    move STBD_TURN   dir NORTH_WEST  loc 1005,1286  DistToNext 60.811184
    Speed 0, FLAG 1
     time  0.00   tot   inf
   [36]     qtv    move FORWARD   dir NORTH_WEST  loc 962,1329  DistToNext 0.000000
    Speed 3, FLAG 1
     time 36.49   tot   inf
   [37]     qtv    move STBD_TURN   dir NORTH  loc 962,1329  DistToNext 46.000000
    Speed 3, FLAG 1
     time  0.00   tot   inf
   [38]     qtv    move FORWARD   dir NORTH  loc 962,1375  DistToNext 33.000000
    Speed 2, FLAG 1
     time 41.40   tot   inf
   [39]     qtv    move FORWARD   dir NORTH  loc 962,1342  DistToNext 0.000000
    Speed 2, FLAG 2
     time 29.70   tot   inf
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir SOUTH_EAST  loc 650,1664  DistToNext 0.000000
    Speed 4, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move STBD_TURN   dir SOUTH  loc 650,1664  DistToNext 240.000000
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move FORWARD   dir SOUTH  loc 650,1424  DistToNext 0.000000
    Speed 5, FLAG 1
     time 86.40   tot 86.40
   [ 3]     qtv    move STBD_TURN   dir SOUTH_WEST  loc 650,1424  DistToNext 155.563492
    Speed 0, FLAG 1
     time  0.00   tot 86.40
   [ 4]     qtv    move FORWARD   dir SOUTH_WEST  loc 540,1314  DistToNext 0.000000
    Speed 3, FLAG 1
     time 93.34   tot 179.74
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir EAST  loc 1148,1258  DistToNext 50.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir EAST  loc 1183,1223  DistToNext 0.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
   [ 2]     qtv    move PORT_TURN   dir NORTH_EAST  loc 1183,1223  DistToNext 50.000000
    Speed 0, FLAG 1
     time  0.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move PORT_TURN   dir SOUTH  loc 2458,-1145  DistToNext 60.000000
    Speed 5, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir SOUTH  loc 2458,-1205  DistToNext 0.000000
    Speed 5, FLAG 1
     time 21.60   tot 21.60
   [ 2]     qtv    move STBD_TURN   dir SOUTH_WEST  loc 2458,-1205  DistToNext 59.396969
    Speed 0, FLAG 1
     time  0.00   tot 21.60
   [ 3]     qtv    move FORWARD   dir SOUTH_WEST  loc 2416,-1247  DistToNext 0.000000
    Speed 3, FLAG 1
     time 35.64   tot 57.24
   [ 4]     qtv    move STBD_TURN   dir WEST  loc 2416,-1247  DistToNext 136.000000
    Speed 0, FLAG 1
     time  0.00   tot 57.24
   [ 5]     qtv    move FORWARD   dir WEST  loc 2280,-1247  DistToNext 0.000000
    Speed 2, FLAG 1
     time 122.40   tot 179.64
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir WEST  loc 1506,537  DistToNext 0.000000
    Speed 2, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move PORT_TURN   dir SOUTH_WEST  loc 1506,537  DistToNext 0.000000
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move STBD_TURN   dir WEST  loc 1506,537  DistToNext 70.000000
    Speed 2, FLAG 1
     time  0.00   tot  0.00
   [ 3]     qtv    move FORWARD   dir WEST  loc 1436,537  DistToNext 0.000000
    Speed 2, FLAG 1
     time 63.00   tot 63.00
   [ 4]     qtv    move STBD_TURN   dir NORTH_WEST  loc 1436,537  DistToNext 70.710678
    Speed 2, FLAG 1
     time  0.00   tot 63.00
   [ 5]     qtv    move FORWARD   dir NORTH_WEST  loc 1386,587  DistToNext 0.000000
    Speed 2, FLAG 1
     time 63.64   tot 126.64
   [ 6]     qtv    move STBD_TURN   dir NORTH  loc 1386,587  DistToNext 0.000000
    Speed 2, FLAG 1
     time  0.00   tot 126.64
   [ 7]     qtv    move STBD_TURN   dir NORTH_EAST  loc 1386,587  DistToNext 87.681244
    Speed 0, FLAG 1
     time  0.00   tot 126.64
   [ 8]     qtv    move FORWARD   dir NORTH_EAST  loc 1448,649  DistToNext 33.941124
    Speed 3, FLAG 1
     time 52.61   tot 179.25
   [ 9]     qtv    move FORWARD   dir NORTH_EAST  loc 1472,673  DistToNext 0.000000
    Speed 3, FLAG 2
     time 20.36   tot 199.61
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir NORTH  loc 1739,566  DistToNext 50.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir NORTH  loc 1774,531  DistToNext 50.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir WEST  loc 1490,74  DistToNext 50.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir WEST  loc 1525,39  DistToNext 50.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir NORTH_EAST  loc 1452,161  DistToNext 50.000000
    Speed 3, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir NORTH_EAST  loc 1487,126  DistToNext 50.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir SOUTH  loc 1807,-944  DistToNext 0.000000
    Speed 5, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move STBD_TURN   dir SOUTH_WEST  loc 1807,-944  DistToNext 60.811184
    Speed 5, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move FORWARD   dir SOUTH_WEST  loc 1764,-987  DistToNext 0.000000
    Speed 3, FLAG 1
     time 36.49   tot 36.49
   [ 3]     qtv    move STBD_TURN   dir WEST  loc 1764,-987  DistToNext 60.000000
    Speed 3, FLAG 1
     time  0.00   tot 36.49
   [ 4]     qtv    move FORWARD   dir WEST  loc 1704,-987  DistToNext 0.000000
    Speed 2, FLAG 1
     time 54.00   tot 90.49
   [ 5]     qtv    move STBD_TURN   dir NORTH_WEST  loc 1704,-987  DistToNext 0.000000
    Speed 2, FLAG 1
     time  0.00   tot 90.49
   [ 6]     qtv    move STBD_TURN   dir NORTH  loc 1704,-987  DistToNext 99.000000
    Speed 0, FLAG 1
     time  0.00   tot 90.49
   [ 7]     qtv    move FORWARD   dir NORTH  loc 1704,-888  DistToNext 19.000000
    Speed 2, FLAG 1
     time 89.10   tot 179.59
   [ 8]     qtv    move FORWARD   dir NORTH  loc 1704,-907  DistToNext 0.000000
    Speed 2, FLAG 2
     time 17.10   tot 196.69
  End Path <===
* ==> Start Path
   [ 0]     qtv    move PORT_TURN   dir SOUTH_EAST  loc 2485,-1445  DistToNext 0.000000
    Speed 4, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move PORT_TURN   dir EAST  loc 2485,-1445  DistToNext 60.000000
    Speed 4, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move FORWARD   dir EAST  loc 2545,-1445  DistToNext 0.000000
    Speed 5, FLAG 1
     time 21.60   tot 21.60
   [ 3]     qtv    move PORT_TURN   dir NORTH_EAST  loc 2545,-1445  DistToNext 60.811184
    Speed 5, FLAG 1
     time  0.00   tot 21.60
   [ 4]     qtv    move FORWARD   dir NORTH_EAST  loc 2588,-1402  DistToNext 0.000000
    Speed 3, FLAG 1
     time 36.49   tot 58.09
   [ 5]     qtv    move PORT_TURN   dir NORTH  loc 2588,-1402  DistToNext 0.000000
    Speed 3, FLAG 1
     time  0.00   tot 58.09
   [ 6]     qtv    move PORT_TURN   dir NORTH_WEST  loc 2588,-1402  DistToNext 60.811184
    Speed 0, FLAG 1
     time  0.00   tot 58.09
   [ 7]     qtv    move FORWARD   dir NORTH_WEST  loc 2545,-1359  DistToNext 0.000000
    Speed 3, FLAG 1
     time 36.49   tot 94.57
   [ 8]     qtv    move PORT_TURN   dir WEST  loc 2545,-1359  DistToNext 94.000000
    Speed 3, FLAG 1
     time  0.00   tot 94.57
   [ 9]     qtv    move FORWARD   dir WEST  loc 2451,-1359  DistToNext 0.000000
    Speed 2, FLAG 1
     time 84.60   tot 179.17
  End Path <===
* ==> Start Path
   [ 0]     qtv    move PORT_TURN   dir SOUTH_WEST  loc 1139,1359  DistToNext 50.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir SOUTH_WEST  loc 1174,1324  DistToNext 50.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir NORTH  loc 1438,108  DistToNext 50.000000
    Speed 2, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir NORTH  loc 1473,73  DistToNext 50.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move STBD_TURN   dir NORTH  loc 2068,20  DistToNext 60.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir NORTH  loc 2068,80  DistToNext 0.000000
    Speed 1, FLAG 1
     time 108.00   tot 108.00
   [ 2]     qtv    move STBD_TURN   dir NORTH_EAST  loc 2068,80  DistToNext 59.396969
    Speed 0, FLAG 1
     time  0.00   tot 108.00
   [ 3]     qtv    move FORWARD   dir NORTH_EAST  loc 2110,122  DistToNext 0.000000
    Speed 3, FLAG 1
     time 35.64   tot 143.64
   [ 4]     qtv    move STBD_TURN   dir EAST  loc 2110,122  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot 143.64
   [ 5]     qtv    move FORWARD   dir EAST  loc 2170,122  DistToNext 0.000000
    Speed 5, FLAG 1
     time 21.60   tot 165.24
   [ 6]     qtv    move STBD_TURN   dir SOUTH_EAST  loc 2170,122  DistToNext 31.112698
    Speed 0, FLAG 1
     time  0.00   tot 165.24
   [ 7]     qtv    move FORWARD   dir SOUTH_EAST  loc 2192,100  DistToNext 4.242640
    Speed 4, FLAG 1
     time 14.00   tot 179.24
   [ 8]     qtv    move FORWARD   dir SOUTH_EAST  loc 2189,103  DistToNext 0.000000
    Speed 4, FLAG 2
     time  1.91   tot 181.15
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir SOUTH_EAST  loc 1888,-740  DistToNext 0.000000
    Speed 2, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move STBD_TURN   dir SOUTH  loc 1888,-740  DistToNext 70.000000
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move FORWARD   dir SOUTH  loc 1888,-810  DistToNext 0.000000
    Speed 2, FLAG 1
     time 63.00   tot 63.00
   [ 3]     qtv    move STBD_TURN   dir SOUTH_WEST  loc 1888,-810  DistToNext 128.693436
    Speed 0, FLAG 1
     time  0.00   tot 63.00
   [ 4]     qtv    move FORWARD   dir SOUTH_WEST  loc 1797,-901  DistToNext 0.000000
    Speed 2, FLAG 1
     time 115.82   tot 178.82
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir SOUTH_EAST  loc 1433,192  DistToNext 0.000000
    Speed 5, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move STBD_TURN   dir SOUTH  loc 1433,192  DistToNext 140.000000
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move FORWARD   dir SOUTH  loc 1433,52  DistToNext 0.000000
    Speed 6, FLAG 1
     time 42.00   tot 42.00
   [ 3]     qtv    move STBD_TURN   dir SOUTH_WEST  loc 1433,52  DistToNext 70.710678
    Speed 0, FLAG 1
     time  0.00   tot 42.00
   [ 4]     qtv    move FORWARD   dir SOUTH_WEST  loc 1383,2  DistToNext 0.000000
    Speed 4, FLAG 1
     time 31.82   tot 73.82
   [ 5]     qtv    move STBD_TURN   dir WEST  loc 1383,2  DistToNext 70.000000
    Speed 4, FLAG 1
     time  0.00   tot 73.82
   [ 6]     qtv    move FORWARD   dir WEST  loc 1313,2  DistToNext 0.000000
    Speed 2, FLAG 1
     time 63.00   tot 136.82
   [ 7]     qtv    move STBD_TURN   dir NORTH_WEST  loc 1313,2  DistToNext 0.000000
    Speed 2, FLAG 1
     time  0.00   tot 136.82
   [ 8]     qtv    move STBD_TURN   dir NORTH  loc 1313,2  DistToNext 70.000000
    Speed 0, FLAG 1
     time  0.00   tot 136.82
   [ 9]     qtv    move FORWARD   dir NORTH  loc 1313,72  DistToNext 0.000000
    Speed 2, FLAG 1
     time 63.00   tot 199.82
   [10]     qtv    move STBD_TURN   dir NORTH_EAST  loc 1313,72  DistToNext 138.592926
    Speed 2, FLAG 1
     time  0.00   tot 199.82
   [11]     qtv    move FORWARD   dir NORTH_EAST  loc 1411,170  DistToNext 0.000000
    Speed 4, FLAG 1
     time 62.37   tot 262.18
   [12]     qtv    move PORT_TURN   dir NORTH  loc 1411,170  DistToNext 70.000000
    Speed 0, FLAG 1
     time  0.00   tot 262.18
   [13]     qtv    move FORWARD   dir NORTH  loc 1411,240  DistToNext 0.000000
    Speed 2, FLAG 1
     time 63.00   tot 325.18
   [14]     qtv    move PORT_TURN   dir NORTH_WEST  loc 1411,240  DistToNext 70.710678
    Speed 2, FLAG 1
     time  0.00   tot 325.18
   [15]     qtv    move FORWARD   dir NORTH_WEST  loc 1361,290  DistToNext 0.000000
    Speed 2, FLAG 1
     time 63.64   tot 388.82
   [16]     qtv    move PORT_TURN   dir WEST  loc 1361,290  DistToNext 0.000000
    Speed 2, FLAG 1
     time  0.00   tot 388.82
   [17]     qtv    move PORT_TURN   dir SOUTH_WEST  loc 1361,290  DistToNext 70.710678
    Speed 0, FLAG 1
     time  0.00   tot 388.82
   [18]     qtv    move FORWARD   dir SOUTH_WEST  loc 1311,240  DistToNext 0.000000
    Speed 4, FLAG 1
     time 31.82   tot 420.64
   [19]     qtv    move STBD_TURN   dir WEST  loc 1311,240  DistToNext 83.000000
    Speed 4, FLAG 1
     time  0.00   tot 420.64
   [20]     qtv    move FORWARD   dir WEST  loc 1228,240  DistToNext 0.000000
    Speed 2, FLAG 1
     time 74.70   tot 495.34
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir NORTH  loc 1188,632  DistToNext 0.000000
    Speed 2, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move STBD_TURN   dir NORTH_EAST  loc 1188,632  DistToNext 0.000000
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move PORT_TURN   dir NORTH  loc 1188,632  DistToNext 70.000000
    Speed 2, FLAG 1
     time  0.00   tot  0.00
   [ 3]     qtv    move FORWARD   dir NORTH  loc 1188,702  DistToNext 0.000000
    Speed 2, FLAG 1
     time 63.00   tot 63.00
   [ 4]     qtv    move PORT_TURN   dir NORTH_WEST  loc 1188,702  DistToNext 70.710678
    Speed 2, FLAG 1
     time  0.00   tot 63.00
   [ 5]     qtv    move FORWARD   dir NORTH_WEST  loc 1138,752  DistToNext 0.000000
    Speed 2, FLAG 1
     time 63.64   tot 126.64
   [ 6]     qtv    move PORT_TURN   dir WEST  loc 1138,752  DistToNext 0.000000
    Speed 2, FLAG 1
     time  0.00   tot 126.64
   [ 7]     qtv    move PORT_TURN   dir SOUTH_WEST  loc 1138,752  DistToNext 70.710678
    Speed 0, FLAG 1
     time  0.00   tot 126.64
   [ 8]     qtv    move FORWARD   dir SOUTH_WEST  loc 1088,702  DistToNext 0.000000
    Speed 4, FLAG 1
     time 31.82   tot 158.46
   [ 9]     qtv    move PORT_TURN   dir SOUTH  loc 1088,702  DistToNext 71.000000
    Speed 4, FLAG 1
     time  0.00   tot 158.46
   [10]     qtv    move FORWARD   dir SOUTH  loc 1088,631  DistToNext 0.000000
    Speed 6, FLAG 1
     time 21.30   tot 179.76
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir NORTH_EAST  loc 1354,247  DistToNext 50.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir NORTH_EAST  loc 1389,212  DistToNext 0.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
   [ 2]     qtv    move PORT_TURN   dir NORTH  loc 1389,212  DistToNext 50.000000
    Speed 0, FLAG 1
     time  0.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir WEST  loc 1472,482  DistToNext 0.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move PORT_TURN   dir SOUTH_WEST  loc 1472,482  DistToNext 59.396969
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move FORWARD   dir SOUTH_WEST  loc 1430,440  DistToNext 0.000000
    Speed 3, FLAG 1
     time 35.64   tot 35.64
   [ 3]     qtv    move PORT_TURN   dir SOUTH  loc 1430,440  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot 35.64
   [ 4]     qtv    move FORWARD   dir SOUTH  loc 1430,380  DistToNext 0.000000
    Speed 5, FLAG 1
     time 21.60   tot 57.24
   [ 5]     qtv    move PORT_TURN   dir SOUTH_EAST  loc 1430,380  DistToNext 59.396969
    Speed 0, FLAG 1
     time  0.00   tot 57.24
   [ 6]     qtv    move FORWARD   dir SOUTH_EAST  loc 1472,338  DistToNext 0.000000
    Speed 4, FLAG 1
     time 26.73   tot 83.97
   [ 7]     qtv    move PORT_TURN   dir EAST  loc 1472,338  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot 83.97
   [ 8]     qtv    move FORWARD   dir EAST  loc 1532,338  DistToNext 0.000000
    Speed 5, FLAG 1
     time 21.60   tot 105.57
   [ 9]     qtv    move PORT_TURN   dir NORTH_EAST  loc 1532,338  DistToNext 59.396969
    Speed 0, FLAG 1
     time  0.00   tot 105.57
   [10]     qtv    move FORWARD   dir NORTH_EAST  loc 1574,380  DistToNext 0.000000
    Speed 3, FLAG 1
     time 35.64   tot 141.20
   [11]     qtv    move PORT_TURN   dir NORTH  loc 1574,380  DistToNext 21.000000
    Speed 0, FLAG 1
     time  0.00   tot 141.20
   [12]     qtv    move FORWARD   dir NORTH  loc 1574,401  DistToNext 17.000000
    Speed 1, FLAG 1
     time 37.80   tot 179.00
   [13]     qtv    move FORWARD   dir NORTH  loc 1574,418  DistToNext 0.000000
    Speed 1, FLAG 2
     time 30.60   tot 209.60
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir WEST  loc 1830,490  DistToNext 0.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move PORT_TURN   dir SOUTH_WEST  loc 1830,490  DistToNext 69.296463
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move FORWARD   dir SOUTH_WEST  loc 1781,441  DistToNext 0.000000
    Speed 2, FLAG 1
     time 62.37   tot 62.37
   [ 3]     qtv    move PORT_TURN   dir SOUTH  loc 1781,441  DistToNext 70.000000
    Speed 0, FLAG 1
     time  0.00   tot 62.37
   [ 4]     qtv    move FORWARD   dir SOUTH  loc 1781,371  DistToNext 0.000000
    Speed 3, FLAG 1
     time 42.00   tot 104.37
   [ 5]     qtv    move PORT_TURN   dir SOUTH_EAST  loc 1781,371  DistToNext 69.296463
    Speed 0, FLAG 1
     time  0.00   tot 104.37
   [ 6]     qtv    move FORWARD   dir SOUTH_EAST  loc 1830,322  DistToNext 0.000000
    Speed 3, FLAG 1
     time 41.58   tot 145.94
   [ 7]     qtv    move PORT_TURN   dir EAST  loc 1830,322  DistToNext 55.000000
    Speed 0, FLAG 1
     time  0.00   tot 145.94
   [ 8]     qtv    move FORWARD   dir EAST  loc 1885,322  DistToNext 41.000000
    Speed 3, FLAG 1
     time 33.00   tot 178.94
   [ 9]     qtv    move FORWARD   dir EAST  loc 1844,322  DistToNext 0.000000
    Speed 3, FLAG 2
     time 24.60   tot 203.54
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir NORTH_WEST  loc 419,981  DistToNext 50.000000
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir NORTH_WEST  loc 454,946  DistToNext 50.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir WEST  loc 750,976  DistToNext 0.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move PORT_TURN   dir SOUTH_WEST  loc 750,976  DistToNext 59.396969
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move FORWARD   dir SOUTH_WEST  loc 708,934  DistToNext 0.000000
    Speed 2, FLAG 1
     time 53.46   tot 53.46
   [ 3]     qtv    move PORT_TURN   dir SOUTH  loc 708,934  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot 53.46
   [ 4]     qtv    move FORWARD   dir SOUTH  loc 708,874  DistToNext 0.000000
    Speed 4, FLAG 1
     time 27.00   tot 80.46
   [ 5]     qtv    move PORT_TURN   dir SOUTH_EAST  loc 708,874  DistToNext 59.396969
    Speed 0, FLAG 1
     time  0.00   tot 80.46
   [ 6]     qtv    move FORWARD   dir SOUTH_EAST  loc 750,832  DistToNext 0.000000
    Speed 3, FLAG 1
     time 35.64   tot 116.09
   [ 7]     qtv    move PORT_TURN   dir EAST  loc 750,832  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot 116.09
   [ 8]     qtv    move FORWARD   dir EAST  loc 810,832  DistToNext 0.000000
    Speed 4, FLAG 1
     time 27.00   tot 143.09
   [ 9]     qtv    move PORT_TURN   dir NORTH_EAST  loc 810,832  DistToNext 39.597980
    Speed 0, FLAG 1
     time  0.00   tot 143.09
   [10]     qtv    move FORWARD   dir NORTH_EAST  loc 838,860  DistToNext 19.798990
    Speed 2, FLAG 1
     time 35.64   tot 178.73
   [11]     qtv    move FORWARD   dir NORTH_EAST  loc 824,846  DistToNext 0.000000
    Speed 2, FLAG 2
     time 17.82   tot 196.55
  End Path <===
* ==> Start Path
   [ 0]     qtv    move PORT_TURN   dir SOUTH_WEST  loc 539,649  DistToNext 59.396969
    Speed 3, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir SOUTH_WEST  loc 497,607  DistToNext 0.000000
    Speed 3, FLAG 1
     time 35.64   tot 35.64
   [ 2]     qtv    move STBD_TURN   dir WEST  loc 497,607  DistToNext 80.000000
    Speed 0, FLAG 1
     time  0.00   tot 35.64
   [ 3]     qtv    move FORWARD   dir WEST  loc 417,607  DistToNext 19.000000
    Speed 1, FLAG 1
     time 144.00   tot 179.64
   [ 4]     qtv    move FORWARD   dir WEST  loc 398,607  DistToNext 0.000000
    Speed 1, FLAG 2
     time 34.20   tot 213.84
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir SOUTH_EAST  loc 1571,599  DistToNext 0.000000
    Speed 2, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move STBD_TURN   dir SOUTH  loc 1571,599  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move FORWARD   dir SOUTH  loc 1571,539  DistToNext 0.000000
    Speed 3, FLAG 1
     time 36.00   tot 36.00
   [ 3]     qtv    move STBD_TURN   dir SOUTH_WEST  loc 1571,539  DistToNext 60.811184
    Speed 0, FLAG 1
     time  0.00   tot 36.00
   [ 4]     qtv    move FORWARD   dir SOUTH_WEST  loc 1528,496  DistToNext 0.000000
    Speed 1, FLAG 1
     time 109.46   tot 145.46
   [ 5]     qtv    move STBD_TURN   dir WEST  loc 1528,496  DistToNext 60.000000
    Speed 1, FLAG 1
     time  0.00   tot 145.46
   [ 6]     qtv    move FORWARD   dir WEST  loc 1468,496  DistToNext 0.000000
    Speed 1, FLAG 1
     time 108.00   tot 253.46
   [ 7]     qtv    move STBD_TURN   dir NORTH_WEST  loc 1468,496  DistToNext 0.000000
    Speed 1, FLAG 1
     time  0.00   tot 253.46
   [ 8]     qtv    move STBD_TURN   dir NORTH  loc 1468,496  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot 253.46
   [ 9]     qtv    move FORWARD   dir NORTH  loc 1468,556  DistToNext 0.000000
    Speed 1, FLAG 1
     time 108.00   tot 361.46
   [10]     qtv    move STBD_TURN   dir NORTH_EAST  loc 1468,556  DistToNext 59.396969
    Speed 1, FLAG 1
     time  0.00   tot 361.46
   [11]     qtv    move FORWARD   dir NORTH_EAST  loc 1510,598  DistToNext 0.000000
    Speed 1, FLAG 1
     time 106.91   tot 468.37
   [12]     qtv    move PORT_TURN   dir NORTH  loc 1510,598  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot 468.37
   [13]     qtv    move FORWARD   dir NORTH  loc 1510,658  DistToNext 0.000000
    Speed 1, FLAG 1
     time 108.00   tot 576.37
   [14]     qtv    move PORT_TURN   dir NORTH_WEST  loc 1510,658  DistToNext 60.811184
    Speed 1, FLAG 1
     time  0.00   tot 576.37
   [15]     qtv    move FORWARD   dir NORTH_WEST  loc 1467,701  DistToNext 0.000000
    Speed 1, FLAG 1
     time 109.46   tot 685.83
   [16]     qtv    move PORT_TURN   dir WEST  loc 1467,701  DistToNext 0.000000
    Speed 1, FLAG 1
     time  0.00   tot 685.83
   [17]     qtv    move PORT_TURN   dir SOUTH_WEST  loc 1467,701  DistToNext 60.811184
    Speed 0, FLAG 1
     time  0.00   tot 685.83
   [18]     qtv    move FORWARD   dir SOUTH_WEST  loc 1424,658  DistToNext 0.000000
    Speed 1, FLAG 1
     time 109.46   tot 795.29
   [19]     qtv    move STBD_TURN   dir WEST  loc 1424,658  DistToNext 20.000000
    Speed 1, FLAG 1
     time  0.00   tot 795.29
   [20]     qtv    move FORWARD   dir WEST  loc 1404,658  DistToNext 19.000000
    Speed 1, FLAG 1
     time 36.00   tot 831.29
   [21]     qtv    move FORWARD   dir WEST  loc 1385,658  DistToNext 0.000000
    Speed 1, FLAG 2
     time 34.20   tot 865.49
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir NORTH  loc 962,1375  DistToNext 0.000000
    Speed 2, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move STBD_TURN   dir NORTH_EAST  loc 962,1375  DistToNext 0.000000
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move PORT_TURN   dir NORTH  loc 962,1375  DistToNext 60.000000
    Speed 2, FLAG 1
     time  0.00   tot  0.00
   [ 3]     qtv    move FORWARD   dir NORTH  loc 962,1435  DistToNext 0.000000
    Speed 2, FLAG 1
     time 54.00   tot 54.00
   [ 4]     qtv    move PORT_TURN   dir NORTH_WEST  loc 962,1435  DistToNext 60.811184
    Speed 2, FLAG 1
     time  0.00   tot 54.00
   [ 5]     qtv    move FORWARD   dir NORTH_WEST  loc 919,1478  DistToNext 0.000000
    Speed 2, FLAG 1
     time 54.73   tot 108.73
   [ 6]     qtv    move PORT_TURN   dir WEST  loc 919,1478  DistToNext 0.000000
    Speed 2, FLAG 1
     time  0.00   tot 108.73
   [ 7]     qtv    move PORT_TURN   dir SOUTH_WEST  loc 919,1478  DistToNext 117.379723
    Speed 0, FLAG 1
     time  0.00   tot 108.73
   [ 8]     qtv    move FORWARD   dir SOUTH_WEST  loc 836,1395  DistToNext 55.154327
    Speed 3, FLAG 1
     time 70.43   tot 179.16
   [ 9]     qtv    move FORWARD   dir SOUTH_WEST  loc 875,1434  DistToNext 0.000000
    Speed 3, FLAG 2
     time 33.09   tot 212.25
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir SOUTH_WEST  loc 540,1314  DistToNext 299.813263
    Speed 3, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir SOUTH_WEST  loc 328,1102  DistToNext 0.000000
    Speed 3, FLAG 1
     time 179.89   tot 179.89
  End Path <===
* ==> Start Path
   [ 0]     qtv    move PORT_TURN   dir NORTH_EAST  loc 1183,1223  DistToNext 50.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir NORTH_EAST  loc 1218,1188  DistToNext 0.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
   [ 2]     qtv    move STBD_TURN   dir EAST  loc 1218,1188  DistToNext 50.000000
    Speed 0, FLAG 1
     time  0.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir WEST  loc 2280,-1247  DistToNext 0.000000
    Speed 2, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move PORT_TURN   dir SOUTH_WEST  loc 2280,-1247  DistToNext 59.396969
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move FORWARD   dir SOUTH_WEST  loc 2238,-1289  DistToNext 0.000000
    Speed 3, FLAG 1
     time 35.64   tot 35.64
   [ 3]     qtv    move PORT_TURN   dir SOUTH  loc 2238,-1289  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot 35.64
   [ 4]     qtv    move FORWARD   dir SOUTH  loc 2238,-1349  DistToNext 0.000000
    Speed 5, FLAG 1
     time 21.60   tot 57.24
   [ 5]     qtv    move PORT_TURN   dir SOUTH_EAST  loc 2238,-1349  DistToNext 59.396969
    Speed 0, FLAG 1
     time  0.00   tot 57.24
   [ 6]     qtv    move FORWARD   dir SOUTH_EAST  loc 2280,-1391  DistToNext 0.000000
    Speed 4, FLAG 1
     time 26.73   tot 83.97
   [ 7]     qtv    move PORT_TURN   dir EAST  loc 2280,-1391  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot 83.97
   [ 8]     qtv    move FORWARD   dir EAST  loc 2340,-1391  DistToNext 0.000000
    Speed 5, FLAG 1
     time 21.60   tot 105.57
   [ 9]     qtv    move PORT_TURN   dir NORTH_EAST  loc 2340,-1391  DistToNext 59.396969
    Speed 0, FLAG 1
     time  0.00   tot 105.57
   [10]     qtv    move FORWARD   dir NORTH_EAST  loc 2382,-1349  DistToNext 0.000000
    Speed 3, FLAG 1
     time 35.64   tot 141.20
   [11]     qtv    move PORT_TURN   dir NORTH  loc 2382,-1349  DistToNext 42.000000
    Speed 0, FLAG 1
     time  0.00   tot 141.20
   [12]     qtv    move FORWARD   dir NORTH  loc 2382,-1307  DistToNext 25.000000
    Speed 2, FLAG 1
     time 37.80   tot 179.00
   [13]     qtv    move FORWARD   dir NORTH  loc 2382,-1332  DistToNext 0.000000
    Speed 2, FLAG 2
     time 22.50   tot 201.50
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir NORTH_EAST  loc 1448,649  DistToNext 0.000000
    Speed 3, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move STBD_TURN   dir EAST  loc 1448,649  DistToNext 70.000000
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move FORWARD   dir EAST  loc 1518,649  DistToNext 0.000000
    Speed 5, FLAG 1
     time 25.20   tot 25.20
   [ 3]     qtv    move STBD_TURN   dir SOUTH_EAST  loc 1518,649  DistToNext 138.592926
    Speed 0, FLAG 1
     time  0.00   tot 25.20
   [ 4]     qtv    move FORWARD   dir SOUTH_EAST  loc 1616,551  DistToNext 0.000000
    Speed 4, FLAG 1
     time 62.37   tot 87.57
   [ 5]     qtv    move STBD_TURN   dir SOUTH  loc 1616,551  DistToNext 70.000000
    Speed 0, FLAG 1
     time  0.00   tot 87.57
   [ 6]     qtv    move FORWARD   dir SOUTH  loc 1616,481  DistToNext 0.000000
    Speed 5, FLAG 1
     time 25.20   tot 112.77
   [ 7]     qtv    move STBD_TURN   dir SOUTH_WEST  loc 1616,481  DistToNext 70.710678
    Speed 5, FLAG 1
     time  0.00   tot 112.77
   [ 8]     qtv    move FORWARD   dir SOUTH_WEST  loc 1566,431  DistToNext 0.000000
    Speed 3, FLAG 1
     time 42.43   tot 155.19
   [ 9]     qtv    move STBD_TURN   dir WEST  loc 1566,431  DistToNext 0.000000
    Speed 3, FLAG 1
     time  0.00   tot 155.19
   [10]     qtv    move STBD_TURN   dir NORTH_WEST  loc 1566,431  DistToNext 70.710678
    Speed 0, FLAG 1
     time  0.00   tot 155.19
   [11]     qtv    move FORWARD   dir NORTH_WEST  loc 1516,481  DistToNext 0.000000
    Speed 3, FLAG 1
     time 42.43   tot 197.62
   [12]     qtv    move STBD_TURN   dir NORTH  loc 1516,481  DistToNext 102.000000
    Speed 3, FLAG 1
     time  0.00   tot 197.62
   [13]     qtv    move FORWARD   dir NORTH  loc 1516,583  DistToNext 0.000000
    Speed 2, FLAG 1
     time 91.80   tot 289.42
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir NORTH  loc 1684,621  DistToNext 50.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir NORTH  loc 1719,586  DistToNext 0.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
   [ 2]     qtv    move STBD_TURN   dir NORTH_EAST  loc 1719,586  DistToNext 50.000000
    Speed 0, FLAG 1
     time  0.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir WEST  loc 1524,40  DistToNext 50.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir WEST  loc 1559,5  DistToNext 50.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir NORTH_EAST  loc 1396,217  DistToNext 0.000000
    Speed 3, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move STBD_TURN   dir EAST  loc 1396,217  DistToNext 140.000000
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move FORWARD   dir EAST  loc 1536,217  DistToNext 0.000000
    Speed 4, FLAG 1
     time 63.00   tot 63.00
   [ 3]     qtv    move PORT_TURN   dir NORTH_EAST  loc 1536,217  DistToNext 70.710678
    Speed 0, FLAG 1
     time  0.00   tot 63.00
   [ 4]     qtv    move FORWARD   dir NORTH_EAST  loc 1586,267  DistToNext 0.000000
    Speed 3, FLAG 1
     time 42.43   tot 105.43
   [ 5]     qtv    move PORT_TURN   dir NORTH  loc 1586,267  DistToNext 70.000000
    Speed 3, FLAG 1
     time  0.00   tot 105.43
   [ 6]     qtv    move FORWARD   dir NORTH  loc 1586,337  DistToNext 0.000000
    Speed 2, FLAG 1
     time 63.00   tot 168.43
   [ 7]     qtv    move PORT_TURN   dir NORTH_WEST  loc 1586,337  DistToNext 0.000000
    Speed 2, FLAG 1
     time  0.00   tot 168.43
   [ 8]     qtv    move PORT_TURN   dir WEST  loc 1586,337  DistToNext 70.000000
    Speed 0, FLAG 1
     time  0.00   tot 168.43
   [ 9]     qtv    move FORWARD   dir WEST  loc 1516,337  DistToNext 0.000000
    Speed 2, FLAG 1
     time 63.00   tot 231.42
   [10]     qtv    move STBD_TURN   dir NORTH_WEST  loc 1516,337  DistToNext -14.285113
    Speed 2, FLAG 1
     time  0.00   tot 231.42
   [11]     qtv    move FORWARD   dir NORTH_WEST  loc 1526,327  DistToNext -14.285113
    Speed -1, FLAG 1
     time -51.43   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir NORTH  loc 1704,-888  DistToNext 0.000000
    Speed 2, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move STBD_TURN   dir NORTH_EAST  loc 1704,-888  DistToNext 299.813263
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move FORWARD   dir NORTH_EAST  loc 1916,-676  DistToNext 0.000000
    Speed 3, FLAG 1
     time 179.89   tot 179.89
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir WEST  loc 2451,-1359  DistToNext 0.000000
    Speed 2, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move PORT_TURN   dir SOUTH_WEST  loc 2451,-1359  DistToNext 59.396969
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move FORWARD   dir SOUTH_WEST  loc 2409,-1401  DistToNext 0.000000
    Speed 3, FLAG 1
     time 35.64   tot 35.64
   [ 3]     qtv    move PORT_TURN   dir SOUTH  loc 2409,-1401  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot 35.64
   [ 4]     qtv    move FORWARD   dir SOUTH  loc 2409,-1461  DistToNext 0.000000
    Speed 5, FLAG 1
     time 21.60   tot 57.24
   [ 5]     qtv    move PORT_TURN   dir SOUTH_EAST  loc 2409,-1461  DistToNext 59.396969
    Speed 0, FLAG 1
     time  0.00   tot 57.24
   [ 6]     qtv    move FORWARD   dir SOUTH_EAST  loc 2451,-1503  DistToNext 0.000000
    Speed 4, FLAG 1
     time 26.73   tot 83.97
   [ 7]     qtv    move PORT_TURN   dir EAST  loc 2451,-1503  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot 83.97
   [ 8]     qtv    move FORWARD   dir EAST  loc 2511,-1503  DistToNext 0.000000
    Speed 5, FLAG 1
     time 21.60   tot 105.57
   [ 9]     qtv    move PORT_TURN   dir NORTH_EAST  loc 2511,-1503  DistToNext 59.396969
    Speed 0, FLAG 1
     time  0.00   tot 105.57
   [10]     qtv    move FORWARD   dir NORTH_EAST  loc 2553,-1461  DistToNext 0.000000
    Speed 3, FLAG 1
     time 35.64   tot 141.20
   [11]     qtv    move PORT_TURN   dir NORTH  loc 2553,-1461  DistToNext 42.000000
    Speed 0, FLAG 1
     time  0.00   tot 141.20
   [12]     qtv    move FORWARD   dir NORTH  loc 2553,-1419  DistToNext 25.000000
    Speed 2, FLAG 1
     time 37.80   tot 179.00
   [13]     qtv    move FORWARD   dir NORTH  loc 2553,-1444  DistToNext 0.000000
    Speed 2, FLAG 2
     time 22.50   tot 201.50
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir SOUTH_WEST  loc 1174,1324  DistToNext 50.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir SOUTH_WEST  loc 1209,1289  DistToNext 0.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
   [ 2]     qtv    move PORT_TURN   dir SOUTH  loc 1209,1289  DistToNext 50.000000
    Speed 0, FLAG 1
     time  0.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir NORTH  loc 1472,164  DistToNext 0.000000
    Speed 2, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move BACK_SAIL   dir NORTH_EAST  loc 1472,164  DistToNext 118.793938
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move STBD_TURN   dir NORTH_EAST  loc 1472,164  DistToNext 118.793938
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 3]     qtv    move FORWARD   dir NORTH_EAST  loc 1556,248  DistToNext 0.000000
    Speed 3, FLAG 1
     time 71.28   tot 71.28
   [ 4]     qtv    move STBD_TURN   dir EAST  loc 1556,248  DistToNext 120.000000
    Speed 0, FLAG 1
     time  0.00   tot 71.28
   [ 5]     qtv    move FORWARD   dir EAST  loc 1676,248  DistToNext 0.000000
    Speed 5, FLAG 1
     time 43.20   tot 114.48
   [ 6]     qtv    move STBD_TURN   dir SOUTH_EAST  loc 1676,248  DistToNext 115.965515
    Speed 0, FLAG 1
     time  0.00   tot 114.48
   [ 7]     qtv    move FORWARD   dir SOUTH_EAST  loc 1758,166  DistToNext 113.137085
    Speed 5, FLAG 1
     time 41.75   tot 156.22
   [ 8]     qtv    move FORWARD   dir SOUTH_EAST  loc 1678,246  DistToNext 0.000000
    Speed 5, FLAG 2
     time 40.73   tot 196.95
   [ 9]     qtv    move NO_DIRECTION   dir SOUTH_EAST  loc 1678,246  DistToNext 239.002090
    Speed 0, FLAG 1
     time  0.00   tot 196.95
  End Path <===
* ==> Start Path
   [ 0]     qtv    move STBD_TURN   dir SOUTH_EAST  loc 2192,100  DistToNext 0.000000
    Speed 4, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move PORT_TURN   dir EAST  loc 2192,100  DistToNext 60.000000
    Speed 4, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move FORWARD   dir EAST  loc 2252,100  DistToNext 0.000000
    Speed 5, FLAG 1
     time 21.60   tot 21.60
   [ 3]     qtv    move PORT_TURN   dir NORTH_EAST  loc 2252,100  DistToNext 60.811184
    Speed 5, FLAG 1
     time  0.00   tot 21.60
   [ 4]     qtv    move FORWARD   dir NORTH_EAST  loc 2295,143  DistToNext 0.000000
    Speed 3, FLAG 1
     time 36.49   tot 58.09
   [ 5]     qtv    move PORT_TURN   dir NORTH  loc 2295,143  DistToNext 0.000000
    Speed 3, FLAG 1
     time  0.00   tot 58.09
   [ 6]     qtv    move PORT_TURN   dir NORTH_WEST  loc 2295,143  DistToNext 60.811184
    Speed 0, FLAG 1
     time  0.00   tot 58.09
   [ 7]     qtv    move FORWARD   dir NORTH_WEST  loc 2252,186  DistToNext 0.000000
    Speed 3, FLAG 1
     time 36.49   tot 94.57
   [ 8]     qtv    move STBD_TURN   dir NORTH  loc 2252,186  DistToNext 47.000000
    Speed 3, FLAG 1
     time  0.00   tot 94.57
   [ 9]     qtv    move FORWARD   dir NORTH  loc 2252,233  DistToNext 35.000000
    Speed 1, FLAG 1
     time 84.60   tot 179.17
   [10]     qtv    move FORWARD   dir NORTH  loc 2252,198  DistToNext 0.000000
    Speed 1, FLAG 2
     time 63.00   tot 242.17
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir SOUTH_WEST  loc 1797,-901  DistToNext 0.000000
    Speed 2, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move PORT_TURN   dir SOUTH  loc 1797,-901  DistToNext 70.000000
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move FORWARD   dir SOUTH  loc 1797,-971  DistToNext 0.000000
    Speed 2, FLAG 1
     time 63.00   tot 63.00
   [ 3]     qtv    move PORT_TURN   dir SOUTH_EAST  loc 1797,-971  DistToNext 69.296463
    Speed 0, FLAG 1
     time  0.00   tot 63.00
   [ 4]     qtv    move FORWARD   dir SOUTH_EAST  loc 1846,-1020  DistToNext 0.000000
    Speed 2, FLAG 1
     time 62.37   tot 125.37
   [ 5]     qtv    move PORT_TURN   dir EAST  loc 1846,-1020  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot 125.37
   [ 6]     qtv    move FORWARD   dir EAST  loc 1906,-1020  DistToNext 51.000000
    Speed 2, FLAG 1
     time 54.00   tot 179.37
   [ 7]     qtv    move FORWARD   dir EAST  loc 1855,-1020  DistToNext 0.000000
    Speed 2, FLAG 2
     time 45.90   tot 225.27
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir SOUTH  loc 1467,158  DistToNext 50.000000
    Speed 6, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir SOUTH  loc 1502,123  DistToNext 50.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir SOUTH  loc 1088,631  DistToNext 0.000000
    Speed 6, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move STBD_TURN   dir SOUTH_WEST  loc 1088,631  DistToNext 70.710678
    Speed 6, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move FORWARD   dir SOUTH_WEST  loc 1038,581  DistToNext 0.000000
    Speed 4, FLAG 1
     time 31.82   tot 31.82
   [ 3]     qtv    move STBD_TURN   dir WEST  loc 1038,581  DistToNext 70.000000
    Speed 4, FLAG 1
     time  0.00   tot 31.82
   [ 4]     qtv    move FORWARD   dir WEST  loc 968,581  DistToNext 0.000000
    Speed 2, FLAG 1
     time 63.00   tot 94.82
   [ 5]     qtv    move STBD_TURN   dir NORTH_WEST  loc 968,581  DistToNext 0.000000
    Speed 2, FLAG 1
     time  0.00   tot 94.82
   [ 6]     qtv    move STBD_TURN   dir NORTH  loc 968,581  DistToNext 94.000000
    Speed 0, FLAG 1
     time  0.00   tot 94.82
   [ 7]     qtv    move FORWARD   dir NORTH  loc 968,675  DistToNext 21.000000
    Speed 2, FLAG 1
     time 84.60   tot 179.42
   [ 8]     qtv    move FORWARD   dir NORTH  loc 968,696  DistToNext 0.000000
    Speed 2, FLAG 2
     time 18.90   tot 198.32
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir NORTH  loc 1405,196  DistToNext 50.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir NORTH  loc 1440,161  DistToNext 50.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir NORTH_EAST  loc 1569,378  DistToNext 50.000000
    Speed 3, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir NORTH_EAST  loc 1604,343  DistToNext 50.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir EAST  loc 1885,322  DistToNext 0.000000
    Speed 3, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move PORT_TURN   dir NORTH_EAST  loc 1885,322  DistToNext 138.592926
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move FORWARD   dir NORTH_EAST  loc 1983,420  DistToNext 0.000000
    Speed 2, FLAG 1
     time 124.73   tot 124.73
   [ 3]     qtv    move PORT_TURN   dir NORTH  loc 1983,420  DistToNext 70.000000
    Speed 0, FLAG 1
     time  0.00   tot 124.73
   [ 4]     qtv    move FORWARD   dir NORTH  loc 1983,490  DistToNext 0.000000
    Speed 1, FLAG 1
     time 126.00   tot 250.73
   [ 5]     qtv    move PORT_TURN   dir NORTH_WEST  loc 1983,490  DistToNext 70.710678
    Speed 1, FLAG 1
     time  0.00   tot 250.73
   [ 6]     qtv    move FORWARD   dir NORTH_WEST  loc 1933,540  DistToNext 0.000000
    Speed 1, FLAG 1
     time 127.28   tot 378.01
   [ 7]     qtv    move PORT_TURN   dir WEST  loc 1933,540  DistToNext 0.000000
    Speed 1, FLAG 1
     time  0.00   tot 378.01
   [ 8]     qtv    move PORT_TURN   dir SOUTH_WEST  loc 1933,540  DistToNext 70.710678
    Speed 0, FLAG 1
     time  0.00   tot 378.01
   [ 9]     qtv    move FORWARD   dir SOUTH_WEST  loc 1883,490  DistToNext 0.000000
    Speed 2, FLAG 1
     time 63.64   tot 441.65
   [10]     qtv    move STBD_TURN   dir WEST  loc 1883,490  DistToNext 30.000000
    Speed 2, FLAG 1
     time  0.00   tot 441.65
   [11]     qtv    move FORWARD   dir WEST  loc 1853,490  DistToNext 9.000000
    Speed 1, FLAG 1
     time 54.00   tot 495.65
   [12]     qtv    move FORWARD   dir WEST  loc 1844,490  DistToNext 0.000000
    Speed 1, FLAG 2
     time 16.20   tot 511.85
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir NORTH_WEST  loc 454,946  DistToNext 50.000000
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir NORTH_WEST  loc 489,911  DistToNext 50.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir NORTH_EAST  loc 838,860  DistToNext 0.000000
    Speed 2, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move STBD_TURN   dir EAST  loc 838,860  DistToNext 120.000000
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move FORWARD   dir EAST  loc 958,860  DistToNext 0.000000
    Speed 4, FLAG 1
     time 54.00   tot 54.00
   [ 3]     qtv    move PORT_TURN   dir NORTH_EAST  loc 958,860  DistToNext 60.811184
    Speed 0, FLAG 1
     time  0.00   tot 54.00
   [ 4]     qtv    move FORWARD   dir NORTH_EAST  loc 1001,903  DistToNext 0.000000
    Speed 2, FLAG 1
     time 54.73   tot 108.73
   [ 5]     qtv    move PORT_TURN   dir NORTH  loc 1001,903  DistToNext 60.000000
    Speed 2, FLAG 1
     time  0.00   tot 108.73
   [ 6]     qtv    move FORWARD   dir NORTH  loc 1001,963  DistToNext 0.000000
    Speed 1, FLAG 1
     time 108.00   tot 216.73
   [ 7]     qtv    move PORT_TURN   dir NORTH_WEST  loc 1001,963  DistToNext 0.000000
    Speed 1, FLAG 1
     time  0.00   tot 216.73
   [ 8]     qtv    move PORT_TURN   dir WEST  loc 1001,963  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot 216.73
   [ 9]     qtv    move FORWARD   dir WEST  loc 941,963  DistToNext 0.000000
    Speed 1, FLAG 1
     time 108.00   tot 324.73
   [10]     qtv    move STBD_TURN   dir NORTH_WEST  loc 941,963  DistToNext -40.202789
    Speed 1, FLAG 1
     time  0.00   tot 324.73
   [11]     qtv    move FORWARD   dir NORTH_WEST  loc 969,935  DistToNext -40.202789
    Speed -1, FLAG 1
     time -144.73   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move PORT_TURN   dir WEST  loc 417,607  DistToNext 60.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir WEST  loc 357,607  DistToNext 0.000000
    Speed 1, FLAG 1
     time 108.00   tot 108.00
   [ 2]     qtv    move PORT_TURN   dir SOUTH_WEST  loc 357,607  DistToNext 59.396969
    Speed 0, FLAG 1
     time  0.00   tot 108.00
   [ 3]     qtv    move FORWARD   dir SOUTH_WEST  loc 315,565  DistToNext 0.000000
    Speed 3, FLAG 1
     time 35.64   tot 143.64
   [ 4]     qtv    move PORT_TURN   dir SOUTH  loc 315,565  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot 143.64
   [ 5]     qtv    move FORWARD   dir SOUTH  loc 315,505  DistToNext 0.000000
    Speed 5, FLAG 1
     time 21.60   tot 165.24
   [ 6]     qtv    move PORT_TURN   dir SOUTH_EAST  loc 315,505  DistToNext 31.112698
    Speed 0, FLAG 1
     time  0.00   tot 165.24
   [ 7]     qtv    move FORWARD   dir SOUTH_EAST  loc 337,483  DistToNext 4.242640
    Speed 4, FLAG 1
     time 14.00   tot 179.24
   [ 8]     qtv    move FORWARD   dir SOUTH_EAST  loc 334,486  DistToNext 0.000000
    Speed 4, FLAG 2
     time  1.91   tot 181.15
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir WEST  loc 1404,658  DistToNext 0.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move PORT_TURN   dir SOUTH_WEST  loc 1404,658  DistToNext 59.396969
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move FORWARD   dir SOUTH_WEST  loc 1362,616  DistToNext 0.000000
    Speed 1, FLAG 1
     time 106.91   tot 106.91
   [ 3]     qtv    move PORT_TURN   dir SOUTH  loc 1362,616  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot 106.91
   [ 4]     qtv    move FORWARD   dir SOUTH  loc 1362,556  DistToNext 0.000000
    Speed 3, FLAG 1
     time 36.00   tot 142.91
   [ 5]     qtv    move PORT_TURN   dir SOUTH_EAST  loc 1362,556  DistToNext 39.597980
    Speed 0, FLAG 1
     time  0.00   tot 142.91
   [ 6]     qtv    move FORWARD   dir SOUTH_EAST  loc 1390,528  DistToNext 19.798990
    Speed 2, FLAG 1
     time 35.64   tot 178.55
   [ 7]     qtv    move FORWARD   dir SOUTH_EAST  loc 1376,542  DistToNext 0.000000
    Speed 2, FLAG 2
     time 17.82   tot 196.37
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir SOUTH_WEST  loc 836,1395  DistToNext 0.000000
    Speed 3, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move STBD_TURN   dir WEST  loc 836,1395  DistToNext 60.000000
    Speed 3, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move FORWARD   dir WEST  loc 776,1395  DistToNext 0.000000
    Speed 2, FLAG 1
     time 54.00   tot 54.00
   [ 3]     qtv    move STBD_TURN   dir NORTH_WEST  loc 776,1395  DistToNext 60.811184
    Speed 2, FLAG 1
     time  0.00   tot 54.00
   [ 4]     qtv    move FORWARD   dir NORTH_WEST  loc 733,1438  DistToNext 0.000000
    Speed 2, FLAG 1
     time 54.73   tot 108.73
   [ 5]     qtv    move STBD_TURN   dir NORTH  loc 733,1438  DistToNext 0.000000
    Speed 2, FLAG 1
     time  0.00   tot 108.73
   [ 6]     qtv    move STBD_TURN   dir NORTH_EAST  loc 733,1438  DistToNext 60.811184
    Speed 0, FLAG 1
     time  0.00   tot 108.73
   [ 7]     qtv    move FORWARD   dir NORTH_EAST  loc 776,1481  DistToNext 0.000000
    Speed 3, FLAG 1
     time 36.49   tot 145.22
   [ 8]     qtv    move PORT_TURN   dir NORTH  loc 776,1481  DistToNext 38.000000
    Speed 3, FLAG 1
     time  0.00   tot 145.22
   [ 9]     qtv    move FORWARD   dir NORTH  loc 776,1519  DistToNext 17.000000
    Speed 2, FLAG 1
     time 34.20   tot 179.42
   [10]     qtv    move FORWARD   dir NORTH  loc 776,1502  DistToNext 0.000000
    Speed 2, FLAG 2
     time 15.30   tot 194.72
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir SOUTH_WEST  loc 328,1102  DistToNext 50.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir SOUTH_WEST  loc 363,1067  DistToNext 0.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
   [ 2]     qtv    move PORT_TURN   dir SOUTH  loc 363,1067  DistToNext 50.000000
    Speed 0, FLAG 1
     time  0.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move STBD_TURN   dir EAST  loc 1218,1188  DistToNext 50.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir EAST  loc 1253,1153  DistToNext 0.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
   [ 2]     qtv    move PORT_TURN   dir NORTH_EAST  loc 1253,1153  DistToNext 50.000000
    Speed 0, FLAG 1
     time  0.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir NORTH  loc 2382,-1307  DistToNext 0.000000
    Speed 2, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move STBD_TURN   dir NORTH_EAST  loc 2382,-1307  DistToNext 59.396969
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move FORWARD   dir NORTH_EAST  loc 2424,-1265  DistToNext 0.000000
    Speed 3, FLAG 1
     time 35.64   tot 35.64
   [ 3]     qtv    move STBD_TURN   dir EAST  loc 2424,-1265  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot 35.64
   [ 4]     qtv    move FORWARD   dir EAST  loc 2484,-1265  DistToNext 0.000000
    Speed 5, FLAG 1
     time 21.60   tot 57.24
   [ 5]     qtv    move STBD_TURN   dir SOUTH_EAST  loc 2484,-1265  DistToNext 59.396969
    Speed 0, FLAG 1
     time  0.00   tot 57.24
   [ 6]     qtv    move FORWARD   dir SOUTH_EAST  loc 2526,-1307  DistToNext 0.000000
    Speed 4, FLAG 1
     time 26.73   tot 83.97
   [ 7]     qtv    move STBD_TURN   dir SOUTH  loc 2526,-1307  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot 83.97
   [ 8]     qtv    move FORWARD   dir SOUTH  loc 2526,-1367  DistToNext 0.000000
    Speed 5, FLAG 1
     time 21.60   tot 105.57
   [ 9]     qtv    move STBD_TURN   dir SOUTH_WEST  loc 2526,-1367  DistToNext 59.396969
    Speed 0, FLAG 1
     time  0.00   tot 105.57
   [10]     qtv    move FORWARD   dir SOUTH_WEST  loc 2484,-1409  DistToNext 0.000000
    Speed 3, FLAG 1
     time 35.64   tot 141.20
   [11]     qtv    move STBD_TURN   dir WEST  loc 2484,-1409  DistToNext 42.000000
    Speed 0, FLAG 1
     time  0.00   tot 141.20
   [12]     qtv    move FORWARD   dir WEST  loc 2442,-1409  DistToNext 25.000000
    Speed 2, FLAG 1
     time 37.80   tot 179.00
   [13]     qtv    move FORWARD   dir WEST  loc 2467,-1409  DistToNext 0.000000
    Speed 2, FLAG 2
     time 22.50   tot 201.50
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir SOUTH_WEST  loc 1597,429  DistToNext 50.000000
    Speed 3, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir SOUTH_WEST  loc 1632,394  DistToNext 50.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move STBD_TURN   dir NORTH_EAST  loc 1719,586  DistToNext 50.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir NORTH_EAST  loc 1754,551  DistToNext 0.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
   [ 2]     qtv    move PORT_TURN   dir NORTH  loc 1754,551  DistToNext 50.000000
    Speed 0, FLAG 1
     time  0.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir WEST  loc 1559,5  DistToNext 50.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir WEST  loc 1594,-30  DistToNext 50.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir EAST  loc 1430,183  DistToNext 50.000000
    Speed 4, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir EAST  loc 1465,148  DistToNext 50.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir NORTH_EAST  loc 1916,-676  DistToNext 0.000000
    Speed 3, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move PORT_TURN   dir NORTH  loc 1916,-676  DistToNext 60.000000
    Speed 3, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move FORWARD   dir NORTH  loc 1916,-616  DistToNext 0.000000
    Speed 2, FLAG 1
     time 54.00   tot 54.00
   [ 3]     qtv    move PORT_TURN   dir NORTH_WEST  loc 1916,-616  DistToNext 60.811184
    Speed 2, FLAG 1
     time  0.00   tot 54.00
   [ 4]     qtv    move FORWARD   dir NORTH_WEST  loc 1873,-573  DistToNext 0.000000
    Speed 2, FLAG 1
     time 54.73   tot 108.73
   [ 5]     qtv    move PORT_TURN   dir WEST  loc 1873,-573  DistToNext 0.000000
    Speed 2, FLAG 1
     time  0.00   tot 108.73
   [ 6]     qtv    move PORT_TURN   dir SOUTH_WEST  loc 1873,-573  DistToNext 117.379723
    Speed 0, FLAG 1
     time  0.00   tot 108.73
   [ 7]     qtv    move FORWARD   dir SOUTH_WEST  loc 1790,-656  DistToNext 55.154327
    Speed 3, FLAG 1
     time 70.43   tot 179.16
   [ 8]     qtv    move FORWARD   dir SOUTH_WEST  loc 1829,-617  DistToNext 0.000000
    Speed 3, FLAG 2
     time 33.09   tot 212.25
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir NORTH  loc 2553,-1419  DistToNext 0.000000
    Speed 2, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move STBD_TURN   dir NORTH_EAST  loc 2553,-1419  DistToNext 59.396969
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move FORWARD   dir NORTH_EAST  loc 2595,-1377  DistToNext 0.000000
    Speed 3, FLAG 1
     time 35.64   tot 35.64
   [ 3]     qtv    move STBD_TURN   dir EAST  loc 2595,-1377  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot 35.64
   [ 4]     qtv    move FORWARD   dir EAST  loc 2655,-1377  DistToNext 0.000000
    Speed 5, FLAG 1
     time 21.60   tot 57.24
   [ 5]     qtv    move STBD_TURN   dir SOUTH_EAST  loc 2655,-1377  DistToNext 59.396969
    Speed 0, FLAG 1
     time  0.00   tot 57.24
   [ 6]     qtv    move FORWARD   dir SOUTH_EAST  loc 2697,-1419  DistToNext 0.000000
    Speed 4, FLAG 1
     time 26.73   tot 83.97
   [ 7]     qtv    move STBD_TURN   dir SOUTH  loc 2697,-1419  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot 83.97
   [ 8]     qtv    move FORWARD   dir SOUTH  loc 2697,-1479  DistToNext 0.000000
    Speed 5, FLAG 1
     time 21.60   tot 105.57
   [ 9]     qtv    move STBD_TURN   dir SOUTH_WEST  loc 2697,-1479  DistToNext 59.396969
    Speed 0, FLAG 1
     time  0.00   tot 105.57
   [10]     qtv    move FORWARD   dir SOUTH_WEST  loc 2655,-1521  DistToNext 0.000000
    Speed 3, FLAG 1
     time 35.64   tot 141.20
   [11]     qtv    move STBD_TURN   dir WEST  loc 2655,-1521  DistToNext 42.000000
    Speed 0, FLAG 1
     time  0.00   tot 141.20
   [12]     qtv    move FORWARD   dir WEST  loc 2613,-1521  DistToNext 25.000000
    Speed 2, FLAG 1
     time 37.80   tot 179.00
   [13]     qtv    move FORWARD   dir WEST  loc 2638,-1521  DistToNext 0.000000
    Speed 2, FLAG 2
     time 22.50   tot 201.50
  End Path <===
* ==> Start Path
   [ 0]     qtv    move PORT_TURN   dir SOUTH  loc 1209,1289  DistToNext 50.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir SOUTH  loc 1244,1254  DistToNext 0.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
   [ 2]     qtv    move PORT_TURN   dir SOUTH_EAST  loc 1244,1254  DistToNext 50.000000
    Speed 0, FLAG 1
     time  0.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir NORTH_EAST  loc 1502,140  DistToNext 50.000000
    Speed 3, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir NORTH_EAST  loc 1537,105  DistToNext 50.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move STBD_TURN   dir NORTH  loc 2252,233  DistToNext 60.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir NORTH  loc 2252,293  DistToNext 0.000000
    Speed 1, FLAG 1
     time 108.00   tot 108.00
   [ 2]     qtv    move STBD_TURN   dir NORTH_EAST  loc 2252,293  DistToNext 59.396969
    Speed 0, FLAG 1
     time  0.00   tot 108.00
   [ 3]     qtv    move FORWARD   dir NORTH_EAST  loc 2294,335  DistToNext 0.000000
    Speed 3, FLAG 1
     time 35.64   tot 143.64
   [ 4]     qtv    move STBD_TURN   dir EAST  loc 2294,335  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot 143.64
   [ 5]     qtv    move FORWARD   dir EAST  loc 2354,335  DistToNext 0.000000
    Speed 5, FLAG 1
     time 21.60   tot 165.24
   [ 6]     qtv    move STBD_TURN   dir SOUTH_EAST  loc 2354,335  DistToNext 31.112698
    Speed 0, FLAG 1
     time  0.00   tot 165.24
   [ 7]     qtv    move FORWARD   dir SOUTH_EAST  loc 2376,313  DistToNext 4.242640
    Speed 4, FLAG 1
     time 14.00   tot 179.24
   [ 8]     qtv    move FORWARD   dir SOUTH_EAST  loc 2373,316  DistToNext 0.000000
    Speed 4, FLAG 2
     time  1.91   tot 181.15
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir EAST  loc 1906,-1020  DistToNext 0.000000
    Speed 2, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move STBD_TURN   dir SOUTH_EAST  loc 1906,-1020  DistToNext 69.296463
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move FORWARD   dir SOUTH_EAST  loc 1955,-1069  DistToNext 0.000000
    Speed 2, FLAG 1
     time 62.37   tot 62.37
   [ 3]     qtv    move STBD_TURN   dir SOUTH  loc 1955,-1069  DistToNext 70.000000
    Speed 0, FLAG 1
     time  0.00   tot 62.37
   [ 4]     qtv    move FORWARD   dir SOUTH  loc 1955,-1139  DistToNext 0.000000
    Speed 2, FLAG 1
     time 63.00   tot 125.37
   [ 5]     qtv    move STBD_TURN   dir SOUTH_WEST  loc 1955,-1139  DistToNext 29.698484
    Speed 0, FLAG 1
     time  0.00   tot 125.37
   [ 6]     qtv    move FORWARD   dir SOUTH_WEST  loc 1934,-1160  DistToNext 9.899495
    Speed 1, FLAG 1
     time 53.46   tot 178.82
   [ 7]     qtv    move FORWARD   dir SOUTH_WEST  loc 1927,-1167  DistToNext 0.000000
    Speed 1, FLAG 2
     time 17.82   tot 196.64
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir SOUTH  loc 1427,198  DistToNext 0.000000
    Speed 6, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move STBD_TURN   dir SOUTH_WEST  loc 1427,198  DistToNext 70.710678
    Speed 6, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move FORWARD   dir SOUTH_WEST  loc 1377,148  DistToNext 0.000000
    Speed 4, FLAG 1
     time 31.82   tot 31.82
   [ 3]     qtv    move STBD_TURN   dir WEST  loc 1377,148  DistToNext 70.000000
    Speed 4, FLAG 1
     time  0.00   tot 31.82
   [ 4]     qtv    move FORWARD   dir WEST  loc 1307,148  DistToNext 0.000000
    Speed 2, FLAG 1
     time 63.00   tot 94.82
   [ 5]     qtv    move STBD_TURN   dir NORTH_WEST  loc 1307,148  DistToNext 0.000000
    Speed 2, FLAG 1
     time  0.00   tot 94.82
   [ 6]     qtv    move STBD_TURN   dir NORTH  loc 1307,148  DistToNext 70.000000
    Speed 0, FLAG 1
     time  0.00   tot 94.82
   [ 7]     qtv    move FORWARD   dir NORTH  loc 1307,218  DistToNext 0.000000
    Speed 2, FLAG 1
     time 63.00   tot 157.82
   [ 8]     qtv    move STBD_TURN   dir NORTH_EAST  loc 1307,218  DistToNext 48.083260
    Speed 2, FLAG 1
     time  0.00   tot 157.82
   [ 9]     qtv    move FORWARD   dir NORTH_EAST  loc 1341,252  DistToNext 28.284271
    Speed 4, FLAG 1
     time 21.64   tot 179.46
   [10]     qtv    move FORWARD   dir NORTH_EAST  loc 1321,232  DistToNext 0.000000
    Speed 4, FLAG 2
     time 12.73   tot 192.18
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir NORTH  loc 968,675  DistToNext 0.000000
    Speed 2, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move STBD_TURN   dir NORTH_EAST  loc 968,675  DistToNext 69.296463
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move FORWARD   dir NORTH_EAST  loc 1017,724  DistToNext 0.000000
    Speed 4, FLAG 1
     time 31.18   tot 31.18
   [ 3]     qtv    move STBD_TURN   dir EAST  loc 1017,724  DistToNext 70.000000
    Speed 0, FLAG 1
     time  0.00   tot 31.18
   [ 4]     qtv    move FORWARD   dir EAST  loc 1087,724  DistToNext 0.000000
    Speed 6, FLAG 1
     time 21.00   tot 52.18
   [ 5]     qtv    move STBD_TURN   dir SOUTH_EAST  loc 1087,724  DistToNext 138.592926
    Speed 0, FLAG 1
     time  0.00   tot 52.18
   [ 6]     qtv    move FORWARD   dir SOUTH_EAST  loc 1185,626  DistToNext 0.000000
    Speed 5, FLAG 1
     time 49.89   tot 102.08
   [ 7]     qtv    move STBD_TURN   dir SOUTH  loc 1185,626  DistToNext 140.000000
    Speed 0, FLAG 1
     time  0.00   tot 102.08
   [ 8]     qtv    move FORWARD   dir SOUTH  loc 1185,486  DistToNext 0.000000
    Speed 6, FLAG 1
     time 42.00   tot 144.08
   [ 9]     qtv    move STBD_TURN   dir SOUTH_WEST  loc 1185,486  DistToNext 77.781746
    Speed 0, FLAG 1
     time  0.00   tot 144.08
   [10]     qtv    move FORWARD   dir SOUTH_WEST  loc 1130,431  DistToNext 0.000000
    Speed 4, FLAG 1
     time 35.00   tot 179.08
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir NORTH  loc 1350,251  DistToNext 50.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir NORTH  loc 1385,216  DistToNext 0.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
   [ 2]     qtv    move STBD_TURN   dir NORTH_EAST  loc 1385,216  DistToNext 50.000000
    Speed 0, FLAG 1
     time  0.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir NORTH_EAST  loc 1514,433  DistToNext 0.000000
    Speed 3, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move STBD_TURN   dir EAST  loc 1514,433  DistToNext 120.000000
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move FORWARD   dir EAST  loc 1634,433  DistToNext 0.000000
    Speed 5, FLAG 1
     time 43.20   tot 43.20
   [ 3]     qtv    move PORT_TURN   dir NORTH_EAST  loc 1634,433  DistToNext 60.811184
    Speed 0, FLAG 1
     time  0.00   tot 43.20
   [ 4]     qtv    move FORWARD   dir NORTH_EAST  loc 1677,476  DistToNext 0.000000
    Speed 3, FLAG 1
     time 36.49   tot 79.69
   [ 5]     qtv    move PORT_TURN   dir NORTH  loc 1677,476  DistToNext 60.000000
    Speed 3, FLAG 1
     time  0.00   tot 79.69
   [ 6]     qtv    move FORWARD   dir NORTH  loc 1677,536  DistToNext 0.000000
    Speed 1, FLAG 1
     time 108.00   tot 187.69
   [ 7]     qtv    move PORT_TURN   dir NORTH_WEST  loc 1677,536  DistToNext 0.000000
    Speed 1, FLAG 1
     time  0.00   tot 187.69
   [ 8]     qtv    move PORT_TURN   dir WEST  loc 1677,536  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot 187.69
   [ 9]     qtv    move FORWARD   dir WEST  loc 1617,536  DistToNext 0.000000
    Speed 1, FLAG 1
     time 108.00   tot 295.68
   [10]     qtv    move STBD_TURN   dir NORTH_WEST  loc 1617,536  DistToNext -32.135197
    Speed 1, FLAG 1
     time  0.00   tot 295.68
   [11]     qtv    move FORWARD   dir NORTH_WEST  loc 1639,514  DistToNext 0.000000
    Speed -1, FLAG 1
     time -115.69   tot 180.00
   [12]     qtv    move STBD_TURN   dir NORTH  loc 1639,514  DistToNext -32.135197
    Speed 0, FLAG 1
     time  0.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir NORTH  loc 1853,490  DistToNext 0.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move STBD_TURN   dir NORTH_EAST  loc 1853,490  DistToNext 69.296463
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move FORWARD   dir NORTH_EAST  loc 1902,539  DistToNext 0.000000
    Speed 2, FLAG 1
     time 62.37   tot 62.37
   [ 3]     qtv    move STBD_TURN   dir EAST  loc 1902,539  DistToNext 70.000000
    Speed 0, FLAG 1
     time  0.00   tot 62.37
   [ 4]     qtv    move FORWARD   dir EAST  loc 1972,539  DistToNext 0.000000
    Speed 3, FLAG 1
     time 42.00   tot 104.37
   [ 5]     qtv    move STBD_TURN   dir SOUTH_EAST  loc 1972,539  DistToNext 124.450790
    Speed 0, FLAG 1
     time  0.00   tot 104.37
   [ 6]     qtv    move FORWARD   dir SOUTH_EAST  loc 2060,451  DistToNext 0.000000
    Speed 3, FLAG 1
     time 74.67   tot 179.04
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir NORTH_WEST  loc 489,911  DistToNext 50.000000
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir NORTH_WEST  loc 524,876  DistToNext 0.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
   [ 2]     qtv    move PORT_TURN   dir WEST  loc 524,876  DistToNext 50.000000
    Speed 0, FLAG 1
     time  0.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir NORTH  loc 969,935  DistToNext 0.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move STBD_TURN   dir NORTH_EAST  loc 969,935  DistToNext 59.396969
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move FORWARD   dir NORTH_EAST  loc 1011,977  DistToNext 0.000000
    Speed 2, FLAG 1
     time 53.46   tot 53.46
   [ 3]     qtv    move STBD_TURN   dir EAST  loc 1011,977  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot 53.46
   [ 4]     qtv    move FORWARD   dir EAST  loc 1071,977  DistToNext 0.000000
    Speed 4, FLAG 1
     time 27.00   tot 80.46
   [ 5]     qtv    move STBD_TURN   dir SOUTH_EAST  loc 1071,977  DistToNext 118.793938
    Speed 0, FLAG 1
     time  0.00   tot 80.46
   [ 6]     qtv    move FORWARD   dir SOUTH_EAST  loc 1155,893  DistToNext 0.000000
    Speed 3, FLAG 1
     time 71.28   tot 151.73
   [ 7]     qtv    move STBD_TURN   dir SOUTH  loc 1155,893  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot 151.73
   [ 8]     qtv    move FORWARD   dir SOUTH  loc 1155,833  DistToNext 0.000000
    Speed 4, FLAG 1
     time 27.00   tot 178.73
  End Path <===
* ==> Start Path
   [ 0]     qtv    move PORT_TURN   dir SOUTH_EAST  loc 337,483  DistToNext 59.396969
    Speed 4, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir SOUTH_EAST  loc 379,441  DistToNext 0.000000
    Speed 4, FLAG 1
     time 26.73   tot 26.73
   [ 2]     qtv    move STBD_TURN   dir SOUTH  loc 379,441  DistToNext 60.000000
    Speed 4, FLAG 1
     time  0.00   tot 26.73
   [ 3]     qtv    move FORWARD   dir SOUTH  loc 379,381  DistToNext 0.000000
    Speed 5, FLAG 1
     time 21.60   tot 48.33
   [ 4]     qtv    move STBD_TURN   dir SOUTH_WEST  loc 379,381  DistToNext 60.811184
    Speed 5, FLAG 1
     time  0.00   tot 48.33
   [ 5]     qtv    move FORWARD   dir SOUTH_WEST  loc 336,338  DistToNext 0.000000
    Speed 3, FLAG 1
     time 36.49   tot 84.81
   [ 6]     qtv    move STBD_TURN   dir WEST  loc 336,338  DistToNext 0.000000
    Speed 3, FLAG 1
     time  0.00   tot 84.81
   [ 7]     qtv    move STBD_TURN   dir NORTH_WEST  loc 336,338  DistToNext 60.811184
    Speed 0, FLAG 1
     time  0.00   tot 84.81
   [ 8]     qtv    move FORWARD   dir NORTH_WEST  loc 293,381  DistToNext 0.000000
    Speed 3, FLAG 1
     time 36.49   tot 121.30
   [ 9]     qtv    move STBD_TURN   dir NORTH  loc 293,381  DistToNext 32.000000
    Speed 3, FLAG 1
     time  0.00   tot 121.30
   [10]     qtv    move FORWARD   dir NORTH  loc 293,413  DistToNext 5.000000
    Speed 1, FLAG 1
     time 57.60   tot 178.90
   [11]     qtv    move FORWARD   dir NORTH  loc 293,408  DistToNext 0.000000
    Speed 1, FLAG 2
     time  9.00   tot 187.90
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir SOUTH_EAST  loc 1390,528  DistToNext 0.000000
    Speed 2, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move PORT_TURN   dir EAST  loc 1390,528  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move FORWARD   dir EAST  loc 1450,528  DistToNext 0.000000
    Speed 3, FLAG 1
     time 36.00   tot 36.00
   [ 3]     qtv    move PORT_TURN   dir NORTH_EAST  loc 1450,528  DistToNext 59.396969
    Speed 0, FLAG 1
     time  0.00   tot 36.00
   [ 4]     qtv    move FORWARD   dir NORTH_EAST  loc 1492,570  DistToNext 0.000000
    Speed 1, FLAG 1
     time 106.91   tot 142.91
   [ 5]     qtv    move PORT_TURN   dir NORTH  loc 1492,570  DistToNext 20.000000
    Speed 0, FLAG 1
     time  0.00   tot 142.91
   [ 6]     qtv    move FORWARD   dir NORTH  loc 1492,590  DistToNext 19.000000
    Speed 1, FLAG 1
     time 36.00   tot 178.91
   [ 7]     qtv    move FORWARD   dir NORTH  loc 1492,609  DistToNext 0.000000
    Speed 1, FLAG 2
     time 34.20   tot 213.11
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir NORTH  loc 776,1519  DistToNext 0.000000
    Speed 2, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move STBD_TURN   dir NORTH_EAST  loc 776,1519  DistToNext 59.396969
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move FORWARD   dir NORTH_EAST  loc 818,1561  DistToNext 0.000000
    Speed 3, FLAG 1
     time 35.64   tot 35.64
   [ 3]     qtv    move STBD_TURN   dir EAST  loc 818,1561  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot 35.64
   [ 4]     qtv    move FORWARD   dir EAST  loc 878,1561  DistToNext 0.000000
    Speed 5, FLAG 1
     time 21.60   tot 57.24
   [ 5]     qtv    move STBD_TURN   dir SOUTH_EAST  loc 878,1561  DistToNext 271.528992
    Speed 0, FLAG 1
     time  0.00   tot 57.24
   [ 6]     qtv    move FORWARD   dir SOUTH_EAST  loc 1070,1369  DistToNext 0.000000
    Speed 4, FLAG 1
     time 122.19   tot 179.42
  End Path <===
* ==> Start Path
   [ 0]     qtv    move PORT_TURN   dir SOUTH  loc 363,1067  DistToNext 50.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir SOUTH  loc 398,1032  DistToNext 0.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
   [ 2]     qtv    move PORT_TURN   dir SOUTH_EAST  loc 398,1032  DistToNext 50.000000
    Speed 0, FLAG 1
     time  0.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move PORT_TURN   dir NORTH_EAST  loc 1253,1153  DistToNext 50.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir NORTH_EAST  loc 1288,1118  DistToNext 0.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
   [ 2]     qtv    move PORT_TURN   dir NORTH  loc 1288,1118  DistToNext 50.000000
    Speed 0, FLAG 1
     time  0.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir WEST  loc 2442,-1409  DistToNext 0.000000
    Speed 2, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move PORT_TURN   dir SOUTH_WEST  loc 2442,-1409  DistToNext 59.396969
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move FORWARD   dir SOUTH_WEST  loc 2400,-1451  DistToNext 0.000000
    Speed 3, FLAG 1
     time 35.64   tot 35.64
   [ 3]     qtv    move PORT_TURN   dir SOUTH  loc 2400,-1451  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot 35.64
   [ 4]     qtv    move FORWARD   dir SOUTH  loc 2400,-1511  DistToNext 0.000000
    Speed 5, FLAG 1
     time 21.60   tot 57.24
   [ 5]     qtv    move PORT_TURN   dir SOUTH_EAST  loc 2400,-1511  DistToNext 59.396969
    Speed 0, FLAG 1
     time  0.00   tot 57.24
   [ 6]     qtv    move FORWARD   dir SOUTH_EAST  loc 2442,-1553  DistToNext 0.000000
    Speed 4, FLAG 1
     time 26.73   tot 83.97
   [ 7]     qtv    move PORT_TURN   dir EAST  loc 2442,-1553  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot 83.97
   [ 8]     qtv    move FORWARD   dir EAST  loc 2502,-1553  DistToNext 0.000000
    Speed 5, FLAG 1
     time 21.60   tot 105.57
   [ 9]     qtv    move PORT_TURN   dir NORTH_EAST  loc 2502,-1553  DistToNext 59.396969
    Speed 0, FLAG 1
     time  0.00   tot 105.57
   [10]     qtv    move FORWARD   dir NORTH_EAST  loc 2544,-1511  DistToNext 0.000000
    Speed 3, FLAG 1
     time 35.64   tot 141.20
   [11]     qtv    move PORT_TURN   dir NORTH  loc 2544,-1511  DistToNext 42.000000
    Speed 0, FLAG 1
     time  0.00   tot 141.20
   [12]     qtv    move FORWARD   dir NORTH  loc 2544,-1469  DistToNext 25.000000
    Speed 2, FLAG 1
     time 37.80   tot 179.00
   [13]     qtv    move FORWARD   dir NORTH  loc 2544,-1494  DistToNext 0.000000
    Speed 2, FLAG 2
     time 22.50   tot 201.50
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir SOUTH_WEST  loc 1632,484  DistToNext 50.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir SOUTH_WEST  loc 1667,449  DistToNext 0.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
   [ 2]     qtv    move STBD_TURN   dir WEST  loc 1667,449  DistToNext 50.000000
    Speed 0, FLAG 1
     time  0.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move PORT_TURN   dir NORTH  loc 1754,551  DistToNext 50.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir NORTH  loc 1789,516  DistToNext 50.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir WEST  loc 1594,-30  DistToNext 50.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir WEST  loc 1629,-65  DistToNext 0.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
   [ 2]     qtv    move PORT_TURN   dir SOUTH_WEST  loc 1629,-65  DistToNext 50.000000
    Speed 0, FLAG 1
     time  0.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir EAST  loc 1383,320  DistToNext 50.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir EAST  loc 1418,285  DistToNext 0.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
   [ 2]     qtv    move PORT_TURN   dir NORTH_EAST  loc 1418,285  DistToNext 50.000000
    Speed 0, FLAG 1
     time  0.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir SOUTH_WEST  loc 1790,-656  DistToNext 0.000000
    Speed 3, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move PORT_TURN   dir SOUTH  loc 1790,-656  DistToNext 500.000000
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move FORWARD   dir SOUTH  loc 1790,-1156  DistToNext 0.000000
    Speed 5, FLAG 1
     time 180.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir WEST  loc 2613,-1521  DistToNext 0.000000
    Speed 2, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move PORT_TURN   dir SOUTH_WEST  loc 2613,-1521  DistToNext 59.396969
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move FORWARD   dir SOUTH_WEST  loc 2571,-1563  DistToNext 0.000000
    Speed 3, FLAG 1
     time 35.64   tot 35.64
   [ 3]     qtv    move PORT_TURN   dir SOUTH  loc 2571,-1563  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot 35.64
   [ 4]     qtv    move FORWARD   dir SOUTH  loc 2571,-1623  DistToNext 0.000000
    Speed 5, FLAG 1
     time 21.60   tot 57.24
   [ 5]     qtv    move PORT_TURN   dir SOUTH_EAST  loc 2571,-1623  DistToNext 59.396969
    Speed 0, FLAG 1
     time  0.00   tot 57.24
   [ 6]     qtv    move FORWARD   dir SOUTH_EAST  loc 2613,-1665  DistToNext 0.000000
    Speed 4, FLAG 1
     time 26.73   tot 83.97
   [ 7]     qtv    move PORT_TURN   dir EAST  loc 2613,-1665  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot 83.97
   [ 8]     qtv    move FORWARD   dir EAST  loc 2673,-1665  DistToNext 0.000000
    Speed 5, FLAG 1
     time 21.60   tot 105.57
   [ 9]     qtv    move PORT_TURN   dir NORTH_EAST  loc 2673,-1665  DistToNext 59.396969
    Speed 0, FLAG 1
     time  0.00   tot 105.57
   [10]     qtv    move FORWARD   dir NORTH_EAST  loc 2715,-1623  DistToNext 0.000000
    Speed 3, FLAG 1
     time 35.64   tot 141.20
   [11]     qtv    move PORT_TURN   dir NORTH  loc 2715,-1623  DistToNext 42.000000
    Speed 0, FLAG 1
     time  0.00   tot 141.20
   [12]     qtv    move FORWARD   dir NORTH  loc 2715,-1581  DistToNext 25.000000
    Speed 2, FLAG 1
     time 37.80   tot 179.00
   [13]     qtv    move FORWARD   dir NORTH  loc 2715,-1606  DistToNext 0.000000
    Speed 2, FLAG 2
     time 22.50   tot 201.50
  End Path <===
* ==> Start Path
   [ 0]     qtv    move PORT_TURN   dir SOUTH_EAST  loc 1244,1254  DistToNext 50.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir SOUTH_EAST  loc 1279,1219  DistToNext 0.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
   [ 2]     qtv    move STBD_TURN   dir SOUTH  loc 1279,1219  DistToNext 50.000000
    Speed 0, FLAG 1
     time  0.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move PORT_TURN   dir NORTH  loc 1537,195  DistToNext 50.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir NORTH  loc 1572,160  DistToNext 0.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
   [ 2]     qtv    move STBD_TURN   dir NORTH_EAST  loc 1572,160  DistToNext 50.000000
    Speed 0, FLAG 1
     time  0.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move STBD_TURN   dir SOUTH_EAST  loc 2376,313  DistToNext 59.396969
    Speed 4, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir SOUTH_EAST  loc 2418,271  DistToNext 0.000000
    Speed 4, FLAG 1
     time 26.73   tot 26.73
   [ 2]     qtv    move PORT_TURN   dir EAST  loc 2418,271  DistToNext 425.000000
    Speed 0, FLAG 1
     time  0.00   tot 26.73
   [ 3]     qtv    move FORWARD   dir EAST  loc 2843,271  DistToNext 49.000000
    Speed 5, FLAG 1
     time 153.00   tot 179.73
   [ 4]     qtv    move FORWARD   dir EAST  loc 2892,271  DistToNext 0.000000
    Speed 5, FLAG 2
     time 17.64   tot 197.37
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir SOUTH_WEST  loc 1934,-1160  DistToNext 0.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move STBD_TURN   dir WEST  loc 1934,-1160  DistToNext 100.000000
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move FORWARD   dir WEST  loc 1834,-1160  DistToNext 0.000000
    Speed 1, FLAG 1
     time 180.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir NORTH_EAST  loc 1341,252  DistToNext 0.000000
    Speed 4, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move STBD_TURN   dir EAST  loc 1341,252  DistToNext 140.000000
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move FORWARD   dir EAST  loc 1481,252  DistToNext 0.000000
    Speed 6, FLAG 1
     time 42.00   tot 42.00
   [ 3]     qtv    move PORT_TURN   dir NORTH_EAST  loc 1481,252  DistToNext 70.710678
    Speed 0, FLAG 1
     time  0.00   tot 42.00
   [ 4]     qtv    move FORWARD   dir NORTH_EAST  loc 1531,302  DistToNext 0.000000
    Speed 4, FLAG 1
     time 31.82   tot 73.82
   [ 5]     qtv    move PORT_TURN   dir NORTH  loc 1531,302  DistToNext 70.000000
    Speed 4, FLAG 1
     time  0.00   tot 73.82
   [ 6]     qtv    move FORWARD   dir NORTH  loc 1531,372  DistToNext 0.000000
    Speed 2, FLAG 1
     time 63.00   tot 136.82
   [ 7]     qtv    move PORT_TURN   dir NORTH_WEST  loc 1531,372  DistToNext 0.000000
    Speed 2, FLAG 1
     time  0.00   tot 136.82
   [ 8]     qtv    move PORT_TURN   dir WEST  loc 1531,372  DistToNext 70.000000
    Speed 0, FLAG 1
     time  0.00   tot 136.82
   [ 9]     qtv    move FORWARD   dir WEST  loc 1461,372  DistToNext 0.000000
    Speed 2, FLAG 1
     time 63.00   tot 199.82
   [10]     qtv    move STBD_TURN   dir NORTH_WEST  loc 1461,372  DistToNext -5.505498
    Speed 2, FLAG 1
     time  0.00   tot 199.82
   [11]     qtv    move FORWARD   dir NORTH_WEST  loc 1464,369  DistToNext -5.505498
    Speed -1, FLAG 1
     time -19.82   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir SOUTH_WEST  loc 1130,431  DistToNext 0.000000
    Speed 4, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move PORT_TURN   dir SOUTH  loc 1130,431  DistToNext 70.000000
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move FORWARD   dir SOUTH  loc 1130,361  DistToNext 0.000000
    Speed 6, FLAG 1
     time 21.00   tot 21.00
   [ 3]     qtv    move PORT_TURN   dir SOUTH_EAST  loc 1130,361  DistToNext 69.296463
    Speed 0, FLAG 1
     time  0.00   tot 21.00
   [ 4]     qtv    move FORWARD   dir SOUTH_EAST  loc 1179,312  DistToNext 0.000000
    Speed 5, FLAG 1
     time 24.95   tot 45.95
   [ 5]     qtv    move PORT_TURN   dir EAST  loc 1179,312  DistToNext 140.000000
    Speed 0, FLAG 1
     time  0.00   tot 45.95
   [ 6]     qtv    move FORWARD   dir EAST  loc 1319,312  DistToNext 0.000000
    Speed 6, FLAG 1
     time 42.00   tot 87.95
   [ 7]     qtv    move PORT_TURN   dir NORTH_EAST  loc 1319,312  DistToNext 70.710678
    Speed 0, FLAG 1
     time  0.00   tot 87.95
   [ 8]     qtv    move FORWARD   dir NORTH_EAST  loc 1369,362  DistToNext 0.000000
    Speed 4, FLAG 1
     time 31.82   tot 119.77
   [ 9]     qtv    move PORT_TURN   dir NORTH  loc 1369,362  DistToNext 70.000000
    Speed 4, FLAG 1
     time  0.00   tot 119.77
   [10]     qtv    move FORWARD   dir NORTH  loc 1369,432  DistToNext 0.000000
    Speed 2, FLAG 1
     time 63.00   tot 182.77
   [11]     qtv    move PORT_TURN   dir NORTH_WEST  loc 1369,432  DistToNext 0.000000
    Speed 2, FLAG 1
     time  0.00   tot 182.77
   [12]     qtv    move PORT_TURN   dir WEST  loc 1369,432  DistToNext 70.000000
    Speed 0, FLAG 1
     time  0.00   tot 182.77
   [13]     qtv    move FORWARD   dir WEST  loc 1299,432  DistToNext 0.000000
    Speed 2, FLAG 1
     time 63.00   tot 245.76
   [14]     qtv    move STBD_TURN   dir NORTH_WEST  loc 1299,432  DistToNext -18.268480
    Speed 2, FLAG 1
     time  0.00   tot 245.76
   [15]     qtv    move FORWARD   dir NORTH_WEST  loc 1311,420  DistToNext 0.000000
    Speed -1, FLAG 1
     time -65.77   tot 180.00
   [16]     qtv    move PORT_TURN   dir WEST  loc 1311,420  DistToNext -18.268480
    Speed 0, FLAG 1
     time  0.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move STBD_TURN   dir NORTH_EAST  loc 1385,216  DistToNext 50.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir NORTH_EAST  loc 1420,181  DistToNext 0.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
   [ 2]     qtv    move STBD_TURN   dir EAST  loc 1420,181  DistToNext 50.000000
    Speed 0, FLAG 1
     time  0.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir EAST  loc 1635,405  DistToNext 0.000000
    Speed 5, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move PORT_TURN   dir NORTH_EAST  loc 1635,405  DistToNext 118.793938
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move FORWARD   dir NORTH_EAST  loc 1719,489  DistToNext 0.000000
    Speed 3, FLAG 1
     time 71.28   tot 71.28
   [ 3]     qtv    move PORT_TURN   dir NORTH  loc 1719,489  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot 71.28
   [ 4]     qtv    move FORWARD   dir NORTH  loc 1719,549  DistToNext 0.000000
    Speed 1, FLAG 1
     time 108.00   tot 179.27
   [ 5]     qtv    move PORT_TURN   dir NORTH_WEST  loc 1719,549  DistToNext 60.811184
    Speed 1, FLAG 1
     time  0.00   tot 179.27
   [ 6]     qtv    move FORWARD   dir NORTH_WEST  loc 1676,592  DistToNext 0.000000
    Speed 1, FLAG 1
     time 109.46   tot 288.73
   [ 7]     qtv    move PORT_TURN   dir WEST  loc 1676,592  DistToNext 0.000000
    Speed 1, FLAG 1
     time  0.00   tot 288.73
   [ 8]     qtv    move PORT_TURN   dir SOUTH_WEST  loc 1676,592  DistToNext 60.811184
    Speed 0, FLAG 1
     time  0.00   tot 288.73
   [ 9]     qtv    move FORWARD   dir SOUTH_WEST  loc 1633,549  DistToNext 0.000000
    Speed 3, FLAG 1
     time 36.49   tot 325.22
   [10]     qtv    move STBD_TURN   dir WEST  loc 1633,549  DistToNext 60.000000
    Speed 3, FLAG 1
     time  0.00   tot 325.22
   [11]     qtv    move FORWARD   dir WEST  loc 1573,549  DistToNext 0.000000
    Speed 1, FLAG 1
     time 108.00   tot 433.22
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir SOUTH_EAST  loc 2060,451  DistToNext 0.000000
    Speed 3, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move PORT_TURN   dir EAST  loc 2060,451  DistToNext 70.000000
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move FORWARD   dir EAST  loc 2130,451  DistToNext 0.000000
    Speed 3, FLAG 1
     time 42.00   tot 42.00
   [ 3]     qtv    move PORT_TURN   dir NORTH_EAST  loc 2130,451  DistToNext 138.592926
    Speed 0, FLAG 1
     time  0.00   tot 42.00
   [ 4]     qtv    move FORWARD   dir NORTH_EAST  loc 2228,549  DistToNext 0.000000
    Speed 2, FLAG 1
     time 124.73   tot 166.73
   [ 5]     qtv    move PORT_TURN   dir NORTH  loc 2228,549  DistToNext 70.000000
    Speed 0, FLAG 1
     time  0.00   tot 166.73
   [ 6]     qtv    move FORWARD   dir NORTH  loc 2228,619  DistToNext 0.000000
    Speed 1, FLAG 1
     time 126.00   tot 292.73
   [ 7]     qtv    move PORT_TURN   dir NORTH_WEST  loc 2228,619  DistToNext 70.710678
    Speed 1, FLAG 1
     time  0.00   tot 292.73
   [ 8]     qtv    move FORWARD   dir NORTH_WEST  loc 2178,669  DistToNext 0.000000
    Speed 1, FLAG 1
     time 127.28   tot 420.01
   [ 9]     qtv    move PORT_TURN   dir WEST  loc 2178,669  DistToNext 0.000000
    Speed 1, FLAG 1
     time  0.00   tot 420.01
   [10]     qtv    move PORT_TURN   dir SOUTH_WEST  loc 2178,669  DistToNext 70.710678
    Speed 0, FLAG 1
     time  0.00   tot 420.01
   [11]     qtv    move FORWARD   dir SOUTH_WEST  loc 2128,619  DistToNext 0.000000
    Speed 2, FLAG 1
     time 63.64   tot 483.65
   [12]     qtv    move STBD_TURN   dir WEST  loc 2128,619  DistToNext 6.000000
    Speed 2, FLAG 1
     time  0.00   tot 483.65
   [13]     qtv    move FORWARD   dir WEST  loc 2122,619  DistToNext 57.000000
    Speed 1, FLAG 1
     time 10.80   tot 494.45
   [14]     qtv    move FORWARD   dir WEST  loc 2065,619  DistToNext 0.000000
    Speed 1, FLAG 2
     time 102.60   tot 597.05
  End Path <===
* ==> Start Path
   [ 0]     qtv    move PORT_TURN   dir WEST  loc 524,876  DistToNext 60.000000
    Speed 2, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir WEST  loc 464,876  DistToNext 0.000000
    Speed 2, FLAG 1
     time 54.00   tot 54.00
   [ 2]     qtv    move PORT_TURN   dir SOUTH_WEST  loc 464,876  DistToNext 59.396969
    Speed 0, FLAG 1
     time  0.00   tot 54.00
   [ 3]     qtv    move FORWARD   dir SOUTH_WEST  loc 422,834  DistToNext 0.000000
    Speed 4, FLAG 1
     time 26.73   tot 80.73
   [ 4]     qtv    move PORT_TURN   dir SOUTH  loc 422,834  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot 80.73
   [ 5]     qtv    move FORWARD   dir SOUTH  loc 422,774  DistToNext 0.000000
    Speed 6, FLAG 1
     time 18.00   tot 98.73
   [ 6]     qtv    move PORT_TURN   dir SOUTH_EAST  loc 422,774  DistToNext 224.859955
    Speed 0, FLAG 1
     time  0.00   tot 98.73
   [ 7]     qtv    move FORWARD   dir SOUTH_EAST  loc 581,615  DistToNext 0.000000
    Speed 5, FLAG 1
     time 80.95   tot 179.68
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir SOUTH  loc 1155,833  DistToNext 0.000000
    Speed 4, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move PORT_TURN   dir SOUTH_EAST  loc 1155,833  DistToNext 59.396969
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move FORWARD   dir SOUTH_EAST  loc 1197,791  DistToNext 0.000000
    Speed 3, FLAG 1
     time 35.64   tot 35.64
   [ 3]     qtv    move PORT_TURN   dir EAST  loc 1197,791  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot 35.64
   [ 4]     qtv    move FORWARD   dir EAST  loc 1257,791  DistToNext 0.000000
    Speed 4, FLAG 1
     time 27.00   tot 62.64
   [ 5]     qtv    move PORT_TURN   dir NORTH_EAST  loc 1257,791  DistToNext 59.396969
    Speed 0, FLAG 1
     time  0.00   tot 62.64
   [ 6]     qtv    move FORWARD   dir NORTH_EAST  loc 1299,833  DistToNext 0.000000
    Speed 2, FLAG 1
     time 53.46   tot 116.09
   [ 7]     qtv    move PORT_TURN   dir NORTH  loc 1299,833  DistToNext 35.000000
    Speed 0, FLAG 1
     time  0.00   tot 116.09
   [ 8]     qtv    move FORWARD   dir NORTH  loc 1299,868  DistToNext 11.000000
    Speed 1, FLAG 1
     time 63.00   tot 179.09
   [ 9]     qtv    move FORWARD   dir NORTH  loc 1299,857  DistToNext 0.000000
    Speed 1, FLAG 2
     time 19.80   tot 198.89
  End Path <===
* ==> Start Path
   [ 0]     qtv    move PORT_TURN   dir NORTH  loc 293,413  DistToNext 60.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir NORTH  loc 293,473  DistToNext 0.000000
    Speed 1, FLAG 1
     time 108.00   tot 108.00
   [ 2]     qtv    move STBD_TURN   dir NORTH_EAST  loc 293,473  DistToNext 59.396969
    Speed 0, FLAG 1
     time  0.00   tot 108.00
   [ 3]     qtv    move FORWARD   dir NORTH_EAST  loc 335,515  DistToNext 0.000000
    Speed 3, FLAG 1
     time 35.64   tot 143.64
   [ 4]     qtv    move STBD_TURN   dir EAST  loc 335,515  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot 143.64
   [ 5]     qtv    move FORWARD   dir EAST  loc 395,515  DistToNext 0.000000
    Speed 5, FLAG 1
     time 21.60   tot 165.24
   [ 6]     qtv    move STBD_TURN   dir SOUTH_EAST  loc 395,515  DistToNext 31.112698
    Speed 0, FLAG 1
     time  0.00   tot 165.24
   [ 7]     qtv    move FORWARD   dir SOUTH_EAST  loc 417,493  DistToNext 4.242640
    Speed 4, FLAG 1
     time 14.00   tot 179.24
   [ 8]     qtv    move FORWARD   dir SOUTH_EAST  loc 414,496  DistToNext 0.000000
    Speed 4, FLAG 2
     time  1.91   tot 181.15
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir NORTH  loc 1492,590  DistToNext 0.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move STBD_TURN   dir NORTH_EAST  loc 1492,590  DistToNext 59.396969
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move FORWARD   dir NORTH_EAST  loc 1534,632  DistToNext 0.000000
    Speed 1, FLAG 1
     time 106.91   tot 106.91
   [ 3]     qtv    move STBD_TURN   dir EAST  loc 1534,632  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot 106.91
   [ 4]     qtv    move FORWARD   dir EAST  loc 1594,632  DistToNext 0.000000
    Speed 3, FLAG 1
     time 36.00   tot 142.91
   [ 5]     qtv    move STBD_TURN   dir SOUTH_EAST  loc 1594,632  DistToNext 39.597980
    Speed 0, FLAG 1
     time  0.00   tot 142.91
   [ 6]     qtv    move FORWARD   dir SOUTH_EAST  loc 1622,604  DistToNext 19.798990
    Speed 2, FLAG 1
     time 35.64   tot 178.55
   [ 7]     qtv    move FORWARD   dir SOUTH_EAST  loc 1608,618  DistToNext 0.000000
    Speed 2, FLAG 2
     time 17.82   tot 196.37
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir SOUTH_EAST  loc 1070,1369  DistToNext 398.808228
    Speed 4, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir SOUTH_EAST  loc 1352,1087  DistToNext 0.000000
    Speed 4, FLAG 1
     time 179.46   tot 179.46
  End Path <===
* ==> Start Path
   [ 0]     qtv    move PORT_TURN   dir SOUTH_EAST  loc 398,1032  DistToNext 50.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir SOUTH_EAST  loc 433,997  DistToNext 0.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
   [ 2]     qtv    move PORT_TURN   dir EAST  loc 433,997  DistToNext 50.000000
    Speed 0, FLAG 1
     time  0.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move PORT_TURN   dir NORTH  loc 1288,1118  DistToNext 50.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir NORTH  loc 1323,1083  DistToNext 0.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
   [ 2]     qtv    move STBD_TURN   dir NORTH_EAST  loc 1323,1083  DistToNext 50.000000
    Speed 0, FLAG 1
     time  0.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir NORTH  loc 2544,-1469  DistToNext 0.000000
    Speed 2, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move STBD_TURN   dir NORTH_EAST  loc 2544,-1469  DistToNext 59.396969
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move FORWARD   dir NORTH_EAST  loc 2586,-1427  DistToNext 0.000000
    Speed 3, FLAG 1
     time 35.64   tot 35.64
   [ 3]     qtv    move STBD_TURN   dir EAST  loc 2586,-1427  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot 35.64
   [ 4]     qtv    move FORWARD   dir EAST  loc 2646,-1427  DistToNext 0.000000
    Speed 5, FLAG 1
     time 21.60   tot 57.24
   [ 5]     qtv    move STBD_TURN   dir SOUTH_EAST  loc 2646,-1427  DistToNext 59.396969
    Speed 0, FLAG 1
     time  0.00   tot 57.24
   [ 6]     qtv    move FORWARD   dir SOUTH_EAST  loc 2688,-1469  DistToNext 0.000000
    Speed 4, FLAG 1
     time 26.73   tot 83.97
   [ 7]     qtv    move STBD_TURN   dir SOUTH  loc 2688,-1469  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot 83.97
   [ 8]     qtv    move FORWARD   dir SOUTH  loc 2688,-1529  DistToNext 0.000000
    Speed 5, FLAG 1
     time 21.60   tot 105.57
   [ 9]     qtv    move STBD_TURN   dir SOUTH_WEST  loc 2688,-1529  DistToNext 59.396969
    Speed 0, FLAG 1
     time  0.00   tot 105.57
   [10]     qtv    move FORWARD   dir SOUTH_WEST  loc 2646,-1571  DistToNext 0.000000
    Speed 3, FLAG 1
     time 35.64   tot 141.20
   [11]     qtv    move STBD_TURN   dir WEST  loc 2646,-1571  DistToNext 42.000000
    Speed 0, FLAG 1
     time  0.00   tot 141.20
   [12]     qtv    move FORWARD   dir WEST  loc 2604,-1571  DistToNext 25.000000
    Speed 2, FLAG 1
     time 37.80   tot 179.00
   [13]     qtv    move FORWARD   dir WEST  loc 2629,-1571  DistToNext 0.000000
    Speed 2, FLAG 2
     time 22.50   tot 201.50
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir SOUTH_WEST  loc 1673,443  DistToNext 50.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir SOUTH_WEST  loc 1708,408  DistToNext 0.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
   [ 2]     qtv    move PORT_TURN   dir SOUTH  loc 1708,408  DistToNext 50.000000
    Speed 0, FLAG 1
     time  0.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir NORTH  loc 1789,516  DistToNext 50.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir NORTH  loc 1824,481  DistToNext 50.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move PORT_TURN   dir SOUTH_WEST  loc 1629,-65  DistToNext 50.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir SOUTH_WEST  loc 1664,-100  DistToNext 0.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
   [ 2]     qtv    move PORT_TURN   dir SOUTH  loc 1664,-100  DistToNext 50.000000
    Speed 0, FLAG 1
     time  0.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move PORT_TURN   dir NORTH_EAST  loc 1418,285  DistToNext 50.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir NORTH_EAST  loc 1453,250  DistToNext 0.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
   [ 2]     qtv    move PORT_TURN   dir NORTH  loc 1453,250  DistToNext 50.000000
    Speed 0, FLAG 1
     time  0.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir SOUTH  loc 1790,-1156  DistToNext 0.000000
    Speed 5, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move PORT_TURN   dir SOUTH_EAST  loc 1790,-1156  DistToNext 59.396969
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move FORWARD   dir SOUTH_EAST  loc 1832,-1198  DistToNext 0.000000
    Speed 4, FLAG 1
     time 26.73   tot 26.73
   [ 3]     qtv    move PORT_TURN   dir EAST  loc 1832,-1198  DistToNext 425.000000
    Speed 0, FLAG 1
     time  0.00   tot 26.73
   [ 4]     qtv    move FORWARD   dir EAST  loc 2257,-1198  DistToNext 0.000000
    Speed 5, FLAG 1
     time 153.00   tot 179.73
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir NORTH  loc 2715,-1581  DistToNext 0.000000
    Speed 2, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move STBD_TURN   dir NORTH_EAST  loc 2715,-1581  DistToNext 59.396969
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move FORWARD   dir NORTH_EAST  loc 2757,-1539  DistToNext 0.000000
    Speed 3, FLAG 1
     time 35.64   tot 35.64
   [ 3]     qtv    move STBD_TURN   dir EAST  loc 2757,-1539  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot 35.64
   [ 4]     qtv    move FORWARD   dir EAST  loc 2817,-1539  DistToNext 0.000000
    Speed 5, FLAG 1
     time 21.60   tot 57.24
   [ 5]     qtv    move STBD_TURN   dir SOUTH_EAST  loc 2817,-1539  DistToNext 59.396969
    Speed 0, FLAG 1
     time  0.00   tot 57.24
   [ 6]     qtv    move FORWARD   dir SOUTH_EAST  loc 2859,-1581  DistToNext 0.000000
    Speed 4, FLAG 1
     time 26.73   tot 83.97
   [ 7]     qtv    move STBD_TURN   dir SOUTH  loc 2859,-1581  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot 83.97
   [ 8]     qtv    move FORWARD   dir SOUTH  loc 2859,-1641  DistToNext 0.000000
    Speed 5, FLAG 1
     time 21.60   tot 105.57
   [ 9]     qtv    move STBD_TURN   dir SOUTH_WEST  loc 2859,-1641  DistToNext 59.396969
    Speed 0, FLAG 1
     time  0.00   tot 105.57
   [10]     qtv    move FORWARD   dir SOUTH_WEST  loc 2817,-1683  DistToNext 0.000000
    Speed 3, FLAG 1
     time 35.64   tot 141.20
   [11]     qtv    move STBD_TURN   dir WEST  loc 2817,-1683  DistToNext 42.000000
    Speed 0, FLAG 1
     time  0.00   tot 141.20
   [12]     qtv    move FORWARD   dir WEST  loc 2775,-1683  DistToNext 25.000000
    Speed 2, FLAG 1
     time 37.80   tot 179.00
   [13]     qtv    move FORWARD   dir WEST  loc 2800,-1683  DistToNext 0.000000
    Speed 2, FLAG 2
     time 22.50   tot 201.50
  End Path <===
* ==> Start Path
   [ 0]     qtv    move STBD_TURN   dir SOUTH  loc 1279,1219  DistToNext 50.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir SOUTH  loc 1314,1184  DistToNext 0.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
   [ 2]     qtv    move STBD_TURN   dir SOUTH_WEST  loc 1314,1184  DistToNext 50.000000
    Speed 0, FLAG 1
     time  0.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move STBD_TURN   dir NORTH_EAST  loc 1572,160  DistToNext 50.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir NORTH_EAST  loc 1607,125  DistToNext 0.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
   [ 2]     qtv    move STBD_TURN   dir EAST  loc 1607,125  DistToNext 50.000000
    Speed 0, FLAG 1
     time  0.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move STBD_TURN   dir EAST  loc 2843,271  DistToNext 500.000000
    Speed 5, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir EAST  loc 3343,271  DistToNext 19.000000
    Speed 5, FLAG 1
     time 180.00   tot 180.00
   [ 2]     qtv    move FORWARD   dir EAST  loc 3362,271  DistToNext 0.000000
    Speed 5, FLAG 2
     time  6.84   tot 186.84
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir WEST  loc 1834,-1160  DistToNext 0.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move PORT_TURN   dir SOUTH_WEST  loc 1834,-1160  DistToNext 69.296463
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move FORWARD   dir SOUTH_WEST  loc 1785,-1209  DistToNext 0.000000
    Speed 1, FLAG 1
     time 124.73   tot 124.73
   [ 3]     qtv    move PORT_TURN   dir SOUTH  loc 1785,-1209  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot 124.73
   [ 4]     qtv    move FORWARD   dir SOUTH  loc 1785,-1269  DistToNext 51.000000
    Speed 2, FLAG 1
     time 54.00   tot 178.73
   [ 5]     qtv    move FORWARD   dir SOUTH  loc 1785,-1218  DistToNext 0.000000
    Speed 2, FLAG 2
     time 45.90   tot 224.63
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir EAST  loc 1404,220  DistToNext 140.000000
    Speed 6, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir EAST  loc 1544,220  DistToNext 0.000000
    Speed 6, FLAG 1
     time 42.00   tot 42.00
   [ 2]     qtv    move PORT_TURN   dir NORTH_EAST  loc 1544,220  DistToNext 70.710678
    Speed 0, FLAG 1
     time  0.00   tot 42.00
   [ 3]     qtv    move FORWARD   dir NORTH_EAST  loc 1594,270  DistToNext 0.000000
    Speed 4, FLAG 1
     time 31.82   tot 73.82
   [ 4]     qtv    move PORT_TURN   dir NORTH  loc 1594,270  DistToNext 70.000000
    Speed 4, FLAG 1
     time  0.00   tot 73.82
   [ 5]     qtv    move FORWARD   dir NORTH  loc 1594,340  DistToNext 0.000000
    Speed 2, FLAG 1
     time 63.00   tot 136.82
   [ 6]     qtv    move PORT_TURN   dir NORTH_WEST  loc 1594,340  DistToNext 0.000000
    Speed 2, FLAG 1
     time  0.00   tot 136.82
   [ 7]     qtv    move PORT_TURN   dir WEST  loc 1594,340  DistToNext 70.000000
    Speed 0, FLAG 1
     time  0.00   tot 136.82
   [ 8]     qtv    move FORWARD   dir WEST  loc 1524,340  DistToNext 0.000000
    Speed 2, FLAG 1
     time 63.00   tot 199.82
   [ 9]     qtv    move STBD_TURN   dir NORTH_WEST  loc 1524,340  DistToNext -5.505498
    Speed 2, FLAG 1
     time  0.00   tot 199.82
   [10]     qtv    move FORWARD   dir NORTH_WEST  loc 1527,337  DistToNext 0.000000
    Speed -1, FLAG 1
     time -19.82   tot 180.00
   [11]     qtv    move STBD_TURN   dir NORTH  loc 1527,337  DistToNext -5.505498
    Speed 0, FLAG 1
     time  0.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move PORT_TURN   dir WEST  loc 1311,420  DistToNext 70.000000
    Speed 2, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move BACK_SAIL   dir WEST  loc 1241,420  DistToNext 0.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move FORWARD   dir WEST  loc 1241,420  DistToNext 0.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 3]     qtv    move PORT_TURN   dir SOUTH_WEST  loc 1241,420  DistToNext 69.296463
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 4]     qtv    move FORWARD   dir SOUTH_WEST  loc 1192,371  DistToNext 0.000000
    Speed 3, FLAG 1
     time 41.58   tot 41.58
   [ 5]     qtv    move PORT_TURN   dir SOUTH  loc 1192,371  DistToNext 70.000000
    Speed 0, FLAG 1
     time  0.00   tot 41.58
   [ 6]     qtv    move FORWARD   dir SOUTH  loc 1192,301  DistToNext 0.000000
    Speed 5, FLAG 1
     time 25.20   tot 66.78
   [ 7]     qtv    move PORT_TURN   dir SOUTH_EAST  loc 1192,301  DistToNext 69.296463
    Speed 0, FLAG 1
     time  0.00   tot 66.78
   [ 8]     qtv    move FORWARD   dir SOUTH_EAST  loc 1241,252  DistToNext 0.000000
    Speed 4, FLAG 1
     time 31.18   tot 97.96
   [ 9]     qtv    move PORT_TURN   dir EAST  loc 1241,252  DistToNext 70.000000
    Speed 0, FLAG 1
     time  0.00   tot 97.96
   [10]     qtv    move FORWARD   dir EAST  loc 1311,252  DistToNext 0.000000
    Speed 5, FLAG 1
     time 25.20   tot 123.16
   [11]     qtv    move PORT_TURN   dir NORTH_EAST  loc 1311,252  DistToNext 39.597980
    Speed 0, FLAG 1
     time  0.00   tot 123.16
   [12]     qtv    move FORWARD   dir NORTH_EAST  loc 1339,280  DistToNext 11.313708
    Speed 3, FLAG 1
     time 23.76   tot 146.92
   [13]     qtv    move FORWARD   dir NORTH_EAST  loc 1331,272  DistToNext 0.000000
    Speed 3, FLAG 2
     time  6.79   tot 153.71
   [14]     qtv    move NO_DIRECTION   dir NORTH_EAST  loc 1331,272  DistToNext 0.000000
    Speed 0, FLAG 1
     time  0.00   tot 153.71
  End Path <===
* ==> Start Path
   [ 0]     qtv    move STBD_TURN   dir EAST  loc 1420,181  DistToNext 50.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir EAST  loc 1455,146  DistToNext 0.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
   [ 2]     qtv    move PORT_TURN   dir NORTH_EAST  loc 1455,146  DistToNext 50.000000
    Speed 0, FLAG 1
     time  0.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir NORTH_EAST  loc 1669,371  DistToNext 0.000000
    Speed 3, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move STBD_TURN   dir EAST  loc 1669,371  DistToNext 120.000000
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move FORWARD   dir EAST  loc 1789,371  DistToNext 0.000000
    Speed 5, FLAG 1
     time 43.20   tot 43.20
   [ 3]     qtv    move PORT_TURN   dir NORTH_EAST  loc 1789,371  DistToNext 60.811184
    Speed 0, FLAG 1
     time  0.00   tot 43.20
   [ 4]     qtv    move FORWARD   dir NORTH_EAST  loc 1832,414  DistToNext 0.000000
    Speed 3, FLAG 1
     time 36.49   tot 79.69
   [ 5]     qtv    move PORT_TURN   dir NORTH  loc 1832,414  DistToNext 60.000000
    Speed 3, FLAG 1
     time  0.00   tot 79.69
   [ 6]     qtv    move FORWARD   dir NORTH  loc 1832,474  DistToNext 0.000000
    Speed 1, FLAG 1
     time 108.00   tot 187.69
   [ 7]     qtv    move PORT_TURN   dir NORTH_WEST  loc 1832,474  DistToNext 0.000000
    Speed 1, FLAG 1
     time  0.00   tot 187.69
   [ 8]     qtv    move PORT_TURN   dir WEST  loc 1832,474  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot 187.69
   [ 9]     qtv    move FORWARD   dir WEST  loc 1772,474  DistToNext 0.000000
    Speed 1, FLAG 1
     time 108.00   tot 295.68
   [10]     qtv    move STBD_TURN   dir NORTH_WEST  loc 1772,474  DistToNext -32.135197
    Speed 1, FLAG 1
     time  0.00   tot 295.68
   [11]     qtv    move FORWARD   dir NORTH_WEST  loc 1794,452  DistToNext 0.000000
    Speed -1, FLAG 1
     time -115.69   tot 180.00
   [12]     qtv    move PORT_TURN   dir WEST  loc 1794,452  DistToNext -32.135197
    Speed 0, FLAG 1
     time  0.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir NORTH  loc 2122,619  DistToNext 0.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move STBD_TURN   dir NORTH_EAST  loc 2122,619  DistToNext 69.296463
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move FORWARD   dir NORTH_EAST  loc 2171,668  DistToNext 0.000000
    Speed 2, FLAG 1
     time 62.37   tot 62.37
   [ 3]     qtv    move STBD_TURN   dir EAST  loc 2171,668  DistToNext 70.000000
    Speed 0, FLAG 1
     time  0.00   tot 62.37
   [ 4]     qtv    move FORWARD   dir EAST  loc 2241,668  DistToNext 0.000000
    Speed 3, FLAG 1
     time 42.00   tot 104.37
   [ 5]     qtv    move STBD_TURN   dir SOUTH_EAST  loc 2241,668  DistToNext 124.450790
    Speed 0, FLAG 1
     time  0.00   tot 104.37
   [ 6]     qtv    move FORWARD   dir SOUTH_EAST  loc 2329,580  DistToNext 0.000000
    Speed 3, FLAG 1
     time 74.67   tot 179.04
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir SOUTH_EAST  loc 581,615  DistToNext 499.217377
    Speed 5, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir SOUTH_EAST  loc 934,262  DistToNext 0.000000
    Speed 5, FLAG 1
     time 179.72   tot 179.72
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir NORTH  loc 1299,868  DistToNext 0.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move STBD_TURN   dir NORTH_EAST  loc 1299,868  DistToNext 59.396969
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move FORWARD   dir NORTH_EAST  loc 1341,910  DistToNext 0.000000
    Speed 2, FLAG 1
     time 53.46   tot 53.46
   [ 3]     qtv    move STBD_TURN   dir EAST  loc 1341,910  DistToNext 280.000000
    Speed 0, FLAG 1
     time  0.00   tot 53.46
   [ 4]     qtv    move FORWARD   dir EAST  loc 1621,910  DistToNext 0.000000
    Speed 4, FLAG 1
     time 126.00   tot 179.46
  End Path <===
* ==> Start Path
   [ 0]     qtv    move PORT_TURN   dir SOUTH_EAST  loc 417,493  DistToNext 398.808228
    Speed 4, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir SOUTH_EAST  loc 699,211  DistToNext 0.000000
    Speed 4, FLAG 1
     time 179.46   tot 179.46
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir SOUTH_EAST  loc 1622,604  DistToNext 0.000000
    Speed 2, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move PORT_TURN   dir EAST  loc 1622,604  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move FORWARD   dir EAST  loc 1682,604  DistToNext 0.000000
    Speed 3, FLAG 1
     time 36.00   tot 36.00
   [ 3]     qtv    move PORT_TURN   dir NORTH_EAST  loc 1682,604  DistToNext 59.396969
    Speed 0, FLAG 1
     time  0.00   tot 36.00
   [ 4]     qtv    move FORWARD   dir NORTH_EAST  loc 1724,646  DistToNext 0.000000
    Speed 1, FLAG 1
     time 106.91   tot 142.91
   [ 5]     qtv    move PORT_TURN   dir NORTH  loc 1724,646  DistToNext 20.000000
    Speed 0, FLAG 1
     time  0.00   tot 142.91
   [ 6]     qtv    move FORWARD   dir NORTH  loc 1724,666  DistToNext 19.000000
    Speed 1, FLAG 1
     time 36.00   tot 178.91
   [ 7]     qtv    move FORWARD   dir NORTH  loc 1724,685  DistToNext 0.000000
    Speed 1, FLAG 2
     time 34.20   tot 213.11
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir SOUTH_EAST  loc 1322,1117  DistToNext 398.808228
    Speed 4, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir SOUTH_EAST  loc 1604,835  DistToNext 0.000000
    Speed 4, FLAG 1
     time 179.46   tot 179.46
  End Path <===
* ==> Start Path
   [ 0]     qtv    move PORT_TURN   dir EAST  loc 433,997  DistToNext 50.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir EAST  loc 468,962  DistToNext 50.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move STBD_TURN   dir NORTH_EAST  loc 1323,1083  DistToNext 50.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir NORTH_EAST  loc 1358,1048  DistToNext 0.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
   [ 2]     qtv    move PORT_TURN   dir NORTH  loc 1358,1048  DistToNext 50.000000
    Speed 0, FLAG 1
     time  0.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir WEST  loc 2604,-1571  DistToNext 0.000000
    Speed 2, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move PORT_TURN   dir SOUTH_WEST  loc 2604,-1571  DistToNext 59.396969
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move FORWARD   dir SOUTH_WEST  loc 2562,-1613  DistToNext 0.000000
    Speed 3, FLAG 1
     time 35.64   tot 35.64
   [ 3]     qtv    move PORT_TURN   dir SOUTH  loc 2562,-1613  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot 35.64
   [ 4]     qtv    move FORWARD   dir SOUTH  loc 2562,-1673  DistToNext 0.000000
    Speed 5, FLAG 1
     time 21.60   tot 57.24
   [ 5]     qtv    move PORT_TURN   dir SOUTH_EAST  loc 2562,-1673  DistToNext 59.396969
    Speed 0, FLAG 1
     time  0.00   tot 57.24
   [ 6]     qtv    move FORWARD   dir SOUTH_EAST  loc 2604,-1715  DistToNext 0.000000
    Speed 4, FLAG 1
     time 26.73   tot 83.97
   [ 7]     qtv    move PORT_TURN   dir EAST  loc 2604,-1715  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot 83.97
   [ 8]     qtv    move FORWARD   dir EAST  loc 2664,-1715  DistToNext 0.000000
    Speed 5, FLAG 1
     time 21.60   tot 105.57
   [ 9]     qtv    move PORT_TURN   dir NORTH_EAST  loc 2664,-1715  DistToNext 59.396969
    Speed 0, FLAG 1
     time  0.00   tot 105.57
   [10]     qtv    move FORWARD   dir NORTH_EAST  loc 2706,-1673  DistToNext 0.000000
    Speed 3, FLAG 1
     time 35.64   tot 141.20
   [11]     qtv    move PORT_TURN   dir NORTH  loc 2706,-1673  DistToNext 42.000000
    Speed 0, FLAG 1
     time  0.00   tot 141.20
   [12]     qtv    move FORWARD   dir NORTH  loc 2706,-1631  DistToNext 25.000000
    Speed 2, FLAG 1
     time 37.80   tot 179.00
   [13]     qtv    move FORWARD   dir NORTH  loc 2706,-1656  DistToNext 0.000000
    Speed 2, FLAG 2
     time 22.50   tot 201.50
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir SOUTH_WEST  loc 1618,498  DistToNext 50.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir SOUTH_WEST  loc 1653,463  DistToNext 0.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
   [ 2]     qtv    move PORT_TURN   dir SOUTH  loc 1653,463  DistToNext 50.000000
    Speed 0, FLAG 1
     time  0.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir NORTH  loc 1824,481  DistToNext 50.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir NORTH  loc 1859,446  DistToNext 0.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
   [ 2]     qtv    move STBD_TURN   dir NORTH_EAST  loc 1859,446  DistToNext 50.000000
    Speed 0, FLAG 1
     time  0.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move PORT_TURN   dir SOUTH  loc 1664,-100  DistToNext 50.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir SOUTH  loc 1699,-135  DistToNext 0.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
   [ 2]     qtv    move STBD_TURN   dir SOUTH_WEST  loc 1699,-135  DistToNext 50.000000
    Speed 0, FLAG 1
     time  0.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir NORTH_EAST  loc 1454,249  DistToNext 50.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir NORTH_EAST  loc 1489,214  DistToNext 0.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
   [ 2]     qtv    move PORT_TURN   dir NORTH  loc 1489,214  DistToNext 50.000000
    Speed 0, FLAG 1
     time  0.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir EAST  loc 2257,-1198  DistToNext 0.000000
    Speed 5, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move PORT_TURN   dir NORTH_EAST  loc 2257,-1198  DistToNext 60.811184
    Speed 5, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move FORWARD   dir NORTH_EAST  loc 2300,-1155  DistToNext 0.000000
    Speed 3, FLAG 1
     time 36.49   tot 36.49
   [ 3]     qtv    move PORT_TURN   dir NORTH  loc 2300,-1155  DistToNext 60.000000
    Speed 3, FLAG 1
     time  0.00   tot 36.49
   [ 4]     qtv    move FORWARD   dir NORTH  loc 2300,-1095  DistToNext 0.000000
    Speed 2, FLAG 1
     time 54.00   tot 90.49
   [ 5]     qtv    move PORT_TURN   dir NORTH_WEST  loc 2300,-1095  DistToNext 0.000000
    Speed 2, FLAG 1
     time  0.00   tot 90.49
   [ 6]     qtv    move PORT_TURN   dir WEST  loc 2300,-1095  DistToNext 99.000000
    Speed 0, FLAG 1
     time  0.00   tot 90.49
   [ 7]     qtv    move FORWARD   dir WEST  loc 2201,-1095  DistToNext 19.000000
    Speed 2, FLAG 1
     time 89.10   tot 179.59
   [ 8]     qtv    move FORWARD   dir WEST  loc 2220,-1095  DistToNext 0.000000
    Speed 2, FLAG 2
     time 17.10   tot 196.69
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir WEST  loc 2775,-1683  DistToNext 0.000000
    Speed 2, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move PORT_TURN   dir SOUTH_WEST  loc 2775,-1683  DistToNext 59.396969
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move FORWARD   dir SOUTH_WEST  loc 2733,-1725  DistToNext 0.000000
    Speed 3, FLAG 1
     time 35.64   tot 35.64
   [ 3]     qtv    move PORT_TURN   dir SOUTH  loc 2733,-1725  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot 35.64
   [ 4]     qtv    move FORWARD   dir SOUTH  loc 2733,-1785  DistToNext 0.000000
    Speed 5, FLAG 1
     time 21.60   tot 57.24
   [ 5]     qtv    move PORT_TURN   dir SOUTH_EAST  loc 2733,-1785  DistToNext 59.396969
    Speed 0, FLAG 1
     time  0.00   tot 57.24
   [ 6]     qtv    move FORWARD   dir SOUTH_EAST  loc 2775,-1827  DistToNext 0.000000
    Speed 4, FLAG 1
     time 26.73   tot 83.97
   [ 7]     qtv    move PORT_TURN   dir EAST  loc 2775,-1827  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot 83.97
   [ 8]     qtv    move FORWARD   dir EAST  loc 2835,-1827  DistToNext 0.000000
    Speed 5, FLAG 1
     time 21.60   tot 105.57
   [ 9]     qtv    move PORT_TURN   dir NORTH_EAST  loc 2835,-1827  DistToNext 59.396969
    Speed 0, FLAG 1
     time  0.00   tot 105.57
   [10]     qtv    move FORWARD   dir NORTH_EAST  loc 2877,-1785  DistToNext 0.000000
    Speed 3, FLAG 1
     time 35.64   tot 141.20
   [11]     qtv    move PORT_TURN   dir NORTH  loc 2877,-1785  DistToNext 42.000000
    Speed 0, FLAG 1
     time  0.00   tot 141.20
   [12]     qtv    move FORWARD   dir NORTH  loc 2877,-1743  DistToNext 25.000000
    Speed 2, FLAG 1
     time 37.80   tot 179.00
   [13]     qtv    move FORWARD   dir NORTH  loc 2877,-1768  DistToNext 0.000000
    Speed 2, FLAG 2
     time 22.50   tot 201.50
  End Path <===
* ==> Start Path
   [ 0]     qtv    move STBD_TURN   dir SOUTH_WEST  loc 1314,1184  DistToNext 50.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir SOUTH_WEST  loc 1349,1149  DistToNext 0.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
   [ 2]     qtv    move STBD_TURN   dir WEST  loc 1349,1149  DistToNext 50.000000
    Speed 0, FLAG 1
     time  0.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move STBD_TURN   dir EAST  loc 1607,125  DistToNext 50.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir EAST  loc 1642,90  DistToNext 0.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
   [ 2]     qtv    move PORT_TURN   dir NORTH_EAST  loc 1642,90  DistToNext 50.000000
    Speed 0, FLAG 1
     time  0.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move STBD_TURN   dir EAST  loc 3343,271  DistToNext 60.000000
    Speed 5, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir EAST  loc 3403,271  DistToNext 0.000000
    Speed 5, FLAG 1
     time 21.60   tot 21.60
   [ 2]     qtv    move STBD_TURN   dir SOUTH_EAST  loc 3403,271  DistToNext 347.896545
    Speed 0, FLAG 1
     time  0.00   tot 21.60
   [ 3]     qtv    move FORWARD   dir SOUTH_EAST  loc 3649,25  DistToNext 43.840622
    Speed 4, FLAG 1
     time 156.55   tot 178.15
   [ 4]     qtv    move FORWARD   dir SOUTH_EAST  loc 3618,56  DistToNext 0.000000
    Speed 4, FLAG 2
     time 19.73   tot 197.88
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir SOUTH  loc 1785,-1269  DistToNext 0.000000
    Speed 2, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move PORT_TURN   dir SOUTH_EAST  loc 1785,-1269  DistToNext 69.296463
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move FORWARD   dir SOUTH_EAST  loc 1834,-1318  DistToNext 0.000000
    Speed 2, FLAG 1
     time 62.37   tot 62.37
   [ 3]     qtv    move PORT_TURN   dir EAST  loc 1834,-1318  DistToNext 70.000000
    Speed 0, FLAG 1
     time  0.00   tot 62.37
   [ 4]     qtv    move FORWARD   dir EAST  loc 1904,-1318  DistToNext 0.000000
    Speed 2, FLAG 1
     time 63.00   tot 125.37
   [ 5]     qtv    move PORT_TURN   dir NORTH_EAST  loc 1904,-1318  DistToNext 29.698484
    Speed 0, FLAG 1
     time  0.00   tot 125.37
   [ 6]     qtv    move FORWARD   dir NORTH_EAST  loc 1925,-1297  DistToNext 9.899495
    Speed 1, FLAG 1
     time 53.46   tot 178.82
   [ 7]     qtv    move FORWARD   dir NORTH_EAST  loc 1932,-1290  DistToNext 0.000000
    Speed 1, FLAG 2
     time 17.82   tot 196.64
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir EAST  loc 1438,186  DistToNext 140.000000
    Speed 6, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir EAST  loc 1578,186  DistToNext 0.000000
    Speed 6, FLAG 1
     time 42.00   tot 42.00
   [ 2]     qtv    move PORT_TURN   dir NORTH_EAST  loc 1578,186  DistToNext 70.710678
    Speed 0, FLAG 1
     time  0.00   tot 42.00
   [ 3]     qtv    move FORWARD   dir NORTH_EAST  loc 1628,236  DistToNext 0.000000
    Speed 4, FLAG 1
     time 31.82   tot 73.82
   [ 4]     qtv    move PORT_TURN   dir NORTH  loc 1628,236  DistToNext 70.000000
    Speed 4, FLAG 1
     time  0.00   tot 73.82
   [ 5]     qtv    move FORWARD   dir NORTH  loc 1628,306  DistToNext 0.000000
    Speed 2, FLAG 1
     time 63.00   tot 136.82
   [ 6]     qtv    move PORT_TURN   dir NORTH_WEST  loc 1628,306  DistToNext 0.000000
    Speed 2, FLAG 1
     time  0.00   tot 136.82
   [ 7]     qtv    move PORT_TURN   dir WEST  loc 1628,306  DistToNext 70.000000
    Speed 0, FLAG 1
     time  0.00   tot 136.82
   [ 8]     qtv    move FORWARD   dir WEST  loc 1558,306  DistToNext 0.000000
    Speed 2, FLAG 1
     time 63.00   tot 199.82
   [ 9]     qtv    move STBD_TURN   dir NORTH_WEST  loc 1558,306  DistToNext -5.505498
    Speed 2, FLAG 1
     time  0.00   tot 199.82
   [10]     qtv    move FORWARD   dir NORTH_WEST  loc 1561,303  DistToNext 0.000000
    Speed -1, FLAG 1
     time -19.82   tot 180.00
   [11]     qtv    move STBD_TURN   dir NORTH  loc 1561,303  DistToNext -5.505498
    Speed 0, FLAG 1
     time  0.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move PORT_TURN   dir SOUTH  loc 1339,280  DistToNext 70.000000
    Speed 5, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move BACK_SAIL   dir SOUTH  loc 1339,210  DistToNext 0.000000
    Speed 4, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move FORWARD   dir SOUTH  loc 1339,210  DistToNext 0.000000
    Speed 4, FLAG 1
     time  0.00   tot  0.00
   [ 3]     qtv    move PORT_TURN   dir SOUTH_EAST  loc 1339,210  DistToNext 69.296463
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 4]     qtv    move FORWARD   dir SOUTH_EAST  loc 1388,161  DistToNext 0.000000
    Speed 3, FLAG 1
     time 41.58   tot 41.58
   [ 5]     qtv    move PORT_TURN   dir EAST  loc 1388,161  DistToNext 42.000000
    Speed 0, FLAG 1
     time  0.00   tot 41.58
   [ 6]     qtv    move FORWARD   dir EAST  loc 1430,161  DistToNext 15.000000
    Speed 5, FLAG 1
     time 15.12   tot 56.70
   [ 7]     qtv    move FORWARD   dir EAST  loc 1415,161  DistToNext 0.000000
    Speed 5, FLAG 2
     time  5.40   tot 62.10
   [ 8]     qtv    move NO_DIRECTION   dir EAST  loc 1415,161  DistToNext 342.000000
    Speed 0, FLAG 1
     time  0.00   tot 62.10
  End Path <===
* ==> Start Path
   [ 0]     qtv    move PORT_TURN   dir NORTH_EAST  loc 1455,146  DistToNext 50.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir NORTH_EAST  loc 1490,111  DistToNext 0.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
   [ 2]     qtv    move STBD_TURN   dir EAST  loc 1490,111  DistToNext 50.000000
    Speed 0, FLAG 1
     time  0.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir NORTH_EAST  loc 1845,390  DistToNext 0.000000
    Speed 3, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move STBD_TURN   dir EAST  loc 1845,390  DistToNext 120.000000
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move FORWARD   dir EAST  loc 1965,390  DistToNext 0.000000
    Speed 5, FLAG 1
     time 43.20   tot 43.20
   [ 3]     qtv    move PORT_TURN   dir NORTH_EAST  loc 1965,390  DistToNext 60.811184
    Speed 0, FLAG 1
     time  0.00   tot 43.20
   [ 4]     qtv    move FORWARD   dir NORTH_EAST  loc 2008,433  DistToNext 0.000000
    Speed 3, FLAG 1
     time 36.49   tot 79.69
   [ 5]     qtv    move PORT_TURN   dir NORTH  loc 2008,433  DistToNext 60.000000
    Speed 3, FLAG 1
     time  0.00   tot 79.69
   [ 6]     qtv    move FORWARD   dir NORTH  loc 2008,493  DistToNext 0.000000
    Speed 1, FLAG 1
     time 108.00   tot 187.69
   [ 7]     qtv    move PORT_TURN   dir NORTH_WEST  loc 2008,493  DistToNext 0.000000
    Speed 1, FLAG 1
     time  0.00   tot 187.69
   [ 8]     qtv    move PORT_TURN   dir WEST  loc 2008,493  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot 187.69
   [ 9]     qtv    move FORWARD   dir WEST  loc 1948,493  DistToNext 0.000000
    Speed 1, FLAG 1
     time 108.00   tot 295.68
   [10]     qtv    move STBD_TURN   dir NORTH_WEST  loc 1948,493  DistToNext -32.135197
    Speed 1, FLAG 1
     time  0.00   tot 295.68
   [11]     qtv    move FORWARD   dir NORTH_WEST  loc 1970,471  DistToNext -32.135197
    Speed -1, FLAG 1
     time -115.69   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir SOUTH_EAST  loc 2329,580  DistToNext 299.813263
    Speed 3, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir SOUTH_EAST  loc 2541,368  DistToNext 0.000000
    Speed 3, FLAG 1
     time 179.89   tot 179.89
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir SOUTH_EAST  loc 934,262  DistToNext 0.000000
    Speed 5, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move PORT_TURN   dir EAST  loc 934,262  DistToNext 120.000000
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move FORWARD   dir EAST  loc 1054,262  DistToNext 0.000000
    Speed 6, FLAG 1
     time 36.00   tot 36.00
   [ 3]     qtv    move PORT_TURN   dir NORTH_EAST  loc 1054,262  DistToNext 60.811184
    Speed 0, FLAG 1
     time  0.00   tot 36.00
   [ 4]     qtv    move FORWARD   dir NORTH_EAST  loc 1097,305  DistToNext 0.000000
    Speed 4, FLAG 1
     time 27.36   tot 63.36
   [ 5]     qtv    move PORT_TURN   dir NORTH  loc 1097,305  DistToNext 60.000000
    Speed 4, FLAG 1
     time  0.00   tot 63.36
   [ 6]     qtv    move FORWARD   dir NORTH  loc 1097,365  DistToNext 0.000000
    Speed 2, FLAG 1
     time 54.00   tot 117.36
   [ 7]     qtv    move PORT_TURN   dir NORTH_WEST  loc 1097,365  DistToNext 0.000000
    Speed 2, FLAG 1
     time  0.00   tot 117.36
   [ 8]     qtv    move PORT_TURN   dir WEST  loc 1097,365  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot 117.36
   [ 9]     qtv    move FORWARD   dir WEST  loc 1037,365  DistToNext 0.000000
    Speed 2, FLAG 1
     time 54.00   tot 171.36
   [10]     qtv    move STBD_TURN   dir NORTH_WEST  loc 1037,365  DistToNext 2.398605
    Speed 2, FLAG 1
     time  0.00   tot 171.36
   [11]     qtv    move FORWARD   dir NORTH_WEST  loc 1038,364  DistToNext 0.000000
    Speed -1, FLAG 1
     time  8.63   tot 180.00
   [12]     qtv    move PORT_TURN   dir WEST  loc 1038,364  DistToNext 2.398605
    Speed 0, FLAG 1
     time  0.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir EAST  loc 1621,910  DistToNext 0.000000
    Speed 4, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move STBD_TURN   dir SOUTH_EAST  loc 1621,910  DistToNext 59.396969
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move FORWARD   dir SOUTH_EAST  loc 1663,868  DistToNext 0.000000
    Speed 3, FLAG 1
     time 35.64   tot 35.64
   [ 3]     qtv    move STBD_TURN   dir SOUTH  loc 1663,868  DistToNext 320.000000
    Speed 0, FLAG 1
     time  0.00   tot 35.64
   [ 4]     qtv    move FORWARD   dir SOUTH  loc 1663,548  DistToNext 0.000000
    Speed 4, FLAG 1
     time 144.00   tot 179.64
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir SOUTH_EAST  loc 699,211  DistToNext 0.000000
    Speed 4, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move PORT_TURN   dir EAST  loc 699,211  DistToNext 60.000000
    Speed 4, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move FORWARD   dir EAST  loc 759,211  DistToNext 0.000000
    Speed 5, FLAG 1
     time 21.60   tot 21.60
   [ 3]     qtv    move PORT_TURN   dir NORTH_EAST  loc 759,211  DistToNext 60.811184
    Speed 5, FLAG 1
     time  0.00   tot 21.60
   [ 4]     qtv    move FORWARD   dir NORTH_EAST  loc 802,254  DistToNext 0.000000
    Speed 3, FLAG 1
     time 36.49   tot 58.09
   [ 5]     qtv    move PORT_TURN   dir NORTH  loc 802,254  DistToNext 0.000000
    Speed 3, FLAG 1
     time  0.00   tot 58.09
   [ 6]     qtv    move PORT_TURN   dir NORTH_WEST  loc 802,254  DistToNext 60.811184
    Speed 0, FLAG 1
     time  0.00   tot 58.09
   [ 7]     qtv    move FORWARD   dir NORTH_WEST  loc 759,297  DistToNext 0.000000
    Speed 3, FLAG 1
     time 36.49   tot 94.57
   [ 8]     qtv    move PORT_TURN   dir WEST  loc 759,297  DistToNext 47.000000
    Speed 3, FLAG 1
     time  0.00   tot 94.57
   [ 9]     qtv    move FORWARD   dir WEST  loc 712,297  DistToNext 35.000000
    Speed 1, FLAG 1
     time 84.60   tot 179.17
   [10]     qtv    move FORWARD   dir WEST  loc 747,297  DistToNext 0.000000
    Speed 1, FLAG 2
     time 63.00   tot 242.17
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir NORTH  loc 1724,666  DistToNext 0.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move STBD_TURN   dir NORTH_EAST  loc 1724,666  DistToNext 59.396969
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move FORWARD   dir NORTH_EAST  loc 1766,708  DistToNext 0.000000
    Speed 1, FLAG 1
     time 106.91   tot 106.91
   [ 3]     qtv    move STBD_TURN   dir EAST  loc 1766,708  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot 106.91
   [ 4]     qtv    move FORWARD   dir EAST  loc 1826,708  DistToNext 0.000000
    Speed 3, FLAG 1
     time 36.00   tot 142.91
   [ 5]     qtv    move STBD_TURN   dir SOUTH_EAST  loc 1826,708  DistToNext 39.597980
    Speed 0, FLAG 1
     time  0.00   tot 142.91
   [ 6]     qtv    move FORWARD   dir SOUTH_EAST  loc 1854,680  DistToNext 19.798990
    Speed 2, FLAG 1
     time 35.64   tot 178.55
   [ 7]     qtv    move FORWARD   dir SOUTH_EAST  loc 1840,694  DistToNext 0.000000
    Speed 2, FLAG 2
     time 17.82   tot 196.37
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir SOUTH_EAST  loc 1356,1083  DistToNext 0.000000
    Speed 4, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move STBD_TURN   dir SOUTH  loc 1356,1083  DistToNext 500.000000
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move FORWARD   dir SOUTH  loc 1356,583  DistToNext 0.000000
    Speed 5, FLAG 1
     time 180.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir EAST  loc 468,962  DistToNext 50.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir EAST  loc 503,927  DistToNext 0.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
   [ 2]     qtv    move PORT_TURN   dir NORTH_EAST  loc 503,927  DistToNext 50.000000
    Speed 0, FLAG 1
     time  0.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir NORTH_EAST  loc 1357,1049  DistToNext 50.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir NORTH_EAST  loc 1392,1014  DistToNext 0.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
   [ 2]     qtv    move PORT_TURN   dir NORTH  loc 1392,1014  DistToNext 50.000000
    Speed 0, FLAG 1
     time  0.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir NORTH  loc 2706,-1631  DistToNext 0.000000
    Speed 2, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move STBD_TURN   dir NORTH_EAST  loc 2706,-1631  DistToNext 59.396969
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move FORWARD   dir NORTH_EAST  loc 2748,-1589  DistToNext 0.000000
    Speed 3, FLAG 1
     time 35.64   tot 35.64
   [ 3]     qtv    move STBD_TURN   dir EAST  loc 2748,-1589  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot 35.64
   [ 4]     qtv    move FORWARD   dir EAST  loc 2808,-1589  DistToNext 0.000000
    Speed 5, FLAG 1
     time 21.60   tot 57.24
   [ 5]     qtv    move STBD_TURN   dir SOUTH_EAST  loc 2808,-1589  DistToNext 59.396969
    Speed 0, FLAG 1
     time  0.00   tot 57.24
   [ 6]     qtv    move FORWARD   dir SOUTH_EAST  loc 2850,-1631  DistToNext 0.000000
    Speed 4, FLAG 1
     time 26.73   tot 83.97
   [ 7]     qtv    move STBD_TURN   dir SOUTH  loc 2850,-1631  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot 83.97
   [ 8]     qtv    move FORWARD   dir SOUTH  loc 2850,-1691  DistToNext 0.000000
    Speed 5, FLAG 1
     time 21.60   tot 105.57
   [ 9]     qtv    move STBD_TURN   dir SOUTH_WEST  loc 2850,-1691  DistToNext 59.396969
    Speed 0, FLAG 1
     time  0.00   tot 105.57
   [10]     qtv    move FORWARD   dir SOUTH_WEST  loc 2808,-1733  DistToNext 0.000000
    Speed 3, FLAG 1
     time 35.64   tot 141.20
   [11]     qtv    move STBD_TURN   dir WEST  loc 2808,-1733  DistToNext 42.000000
    Speed 0, FLAG 1
     time  0.00   tot 141.20
   [12]     qtv    move FORWARD   dir WEST  loc 2766,-1733  DistToNext 25.000000
    Speed 2, FLAG 1
     time 37.80   tot 179.00
   [13]     qtv    move FORWARD   dir WEST  loc 2791,-1733  DistToNext 0.000000
    Speed 2, FLAG 2
     time 22.50   tot 201.50
  End Path <===
* ==> Start Path
   [ 0]     qtv    move PORT_TURN   dir SOUTH  loc 1653,463  DistToNext 50.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir SOUTH  loc 1688,428  DistToNext 0.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
   [ 2]     qtv    move PORT_TURN   dir SOUTH_EAST  loc 1688,428  DistToNext 50.000000
    Speed 0, FLAG 1
     time  0.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move STBD_TURN   dir NORTH_EAST  loc 1769,536  DistToNext 50.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir NORTH_EAST  loc 1804,501  DistToNext 0.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
   [ 2]     qtv    move STBD_TURN   dir EAST  loc 1804,501  DistToNext 50.000000
    Speed 0, FLAG 1
     time  0.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move STBD_TURN   dir SOUTH_WEST  loc 1699,-135  DistToNext 50.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir SOUTH_WEST  loc 1734,-170  DistToNext 0.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
   [ 2]     qtv    move PORT_TURN   dir SOUTH  loc 1734,-170  DistToNext 50.000000
    Speed 0, FLAG 1
     time  0.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir NORTH_EAST  loc 1488,215  DistToNext 50.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir NORTH_EAST  loc 1523,180  DistToNext 0.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
   [ 2]     qtv    move STBD_TURN   dir EAST  loc 1523,180  DistToNext 50.000000
    Speed 0, FLAG 1
     time  0.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir WEST  loc 2201,-1095  DistToNext 0.000000
    Speed 2, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move PORT_TURN   dir SOUTH_WEST  loc 2201,-1095  DistToNext 299.813263
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move FORWARD   dir SOUTH_WEST  loc 1989,-1307  DistToNext 0.000000
    Speed 3, FLAG 1
     time 179.89   tot 179.89
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir NORTH  loc 2877,-1743  DistToNext 0.000000
    Speed 2, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move STBD_TURN   dir NORTH_EAST  loc 2877,-1743  DistToNext 59.396969
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move FORWARD   dir NORTH_EAST  loc 2919,-1701  DistToNext 0.000000
    Speed 3, FLAG 1
     time 35.64   tot 35.64
   [ 3]     qtv    move STBD_TURN   dir EAST  loc 2919,-1701  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot 35.64
   [ 4]     qtv    move FORWARD   dir EAST  loc 2979,-1701  DistToNext 0.000000
    Speed 5, FLAG 1
     time 21.60   tot 57.24
   [ 5]     qtv    move STBD_TURN   dir SOUTH_EAST  loc 2979,-1701  DistToNext 59.396969
    Speed 0, FLAG 1
     time  0.00   tot 57.24
   [ 6]     qtv    move FORWARD   dir SOUTH_EAST  loc 3021,-1743  DistToNext 0.000000
    Speed 4, FLAG 1
     time 26.73   tot 83.97
   [ 7]     qtv    move STBD_TURN   dir SOUTH  loc 3021,-1743  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot 83.97
   [ 8]     qtv    move FORWARD   dir SOUTH  loc 3021,-1803  DistToNext 0.000000
    Speed 5, FLAG 1
     time 21.60   tot 105.57
   [ 9]     qtv    move STBD_TURN   dir SOUTH_WEST  loc 3021,-1803  DistToNext 59.396969
    Speed 0, FLAG 1
     time  0.00   tot 105.57
   [10]     qtv    move FORWARD   dir SOUTH_WEST  loc 2979,-1845  DistToNext 0.000000
    Speed 3, FLAG 1
     time 35.64   tot 141.20
   [11]     qtv    move STBD_TURN   dir WEST  loc 2979,-1845  DistToNext 42.000000
    Speed 0, FLAG 1
     time  0.00   tot 141.20
   [12]     qtv    move FORWARD   dir WEST  loc 2937,-1845  DistToNext 25.000000
    Speed 2, FLAG 1
     time 37.80   tot 179.00
   [13]     qtv    move FORWARD   dir WEST  loc 2962,-1845  DistToNext 0.000000
    Speed 2, FLAG 2
     time 22.50   tot 201.50
  End Path <===
* ==> Start Path
   [ 0]     qtv    move STBD_TURN   dir WEST  loc 1349,1149  DistToNext 50.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir WEST  loc 1384,1114  DistToNext 50.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move PORT_TURN   dir NORTH_EAST  loc 1642,90  DistToNext 50.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir NORTH_EAST  loc 1677,55  DistToNext 0.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
   [ 2]     qtv    move PORT_TURN   dir NORTH  loc 1677,55  DistToNext 50.000000
    Speed 0, FLAG 1
     time  0.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move STBD_TURN   dir SOUTH_EAST  loc 3649,25  DistToNext 59.396969
    Speed 4, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir SOUTH_EAST  loc 3691,-17  DistToNext 0.000000
    Speed 4, FLAG 1
     time 26.73   tot 26.73
   [ 2]     qtv    move STBD_TURN   dir SOUTH  loc 3691,-17  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot 26.73
   [ 3]     qtv    move FORWARD   dir SOUTH  loc 3691,-77  DistToNext 0.000000
    Speed 5, FLAG 1
     time 21.60   tot 48.33
   [ 4]     qtv    move STBD_TURN   dir SOUTH_WEST  loc 3691,-77  DistToNext 59.396969
    Speed 0, FLAG 1
     time  0.00   tot 48.33
   [ 5]     qtv    move FORWARD   dir SOUTH_WEST  loc 3649,-119  DistToNext 0.000000
    Speed 3, FLAG 1
     time 35.64   tot 83.97
   [ 6]     qtv    move STBD_TURN   dir WEST  loc 3649,-119  DistToNext 53.000000
    Speed 0, FLAG 1
     time  0.00   tot 83.97
   [ 7]     qtv    move FORWARD   dir WEST  loc 3596,-119  DistToNext 47.000000
    Speed 1, FLAG 1
     time 95.40   tot 179.37
   [ 8]     qtv    move FORWARD   dir WEST  loc 3643,-119  DistToNext 0.000000
    Speed 1, FLAG 2
     time 84.60   tot 263.96
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir NORTH_EAST  loc 1925,-1297  DistToNext 0.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move STBD_TURN   dir EAST  loc 1925,-1297  DistToNext 200.000000
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move FORWARD   dir EAST  loc 2125,-1297  DistToNext 0.000000
    Speed 2, FLAG 1
     time 180.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir EAST  loc 1472,152  DistToNext 140.000000
    Speed 6, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir EAST  loc 1612,152  DistToNext 0.000000
    Speed 6, FLAG 1
     time 42.00   tot 42.00
   [ 2]     qtv    move PORT_TURN   dir NORTH_EAST  loc 1612,152  DistToNext 70.710678
    Speed 0, FLAG 1
     time  0.00   tot 42.00
   [ 3]     qtv    move FORWARD   dir NORTH_EAST  loc 1662,202  DistToNext 0.000000
    Speed 4, FLAG 1
     time 31.82   tot 73.82
   [ 4]     qtv    move PORT_TURN   dir NORTH  loc 1662,202  DistToNext 70.000000
    Speed 4, FLAG 1
     time  0.00   tot 73.82
   [ 5]     qtv    move FORWARD   dir NORTH  loc 1662,272  DistToNext 0.000000
    Speed 2, FLAG 1
     time 63.00   tot 136.82
   [ 6]     qtv    move PORT_TURN   dir NORTH_WEST  loc 1662,272  DistToNext 0.000000
    Speed 2, FLAG 1
     time  0.00   tot 136.82
   [ 7]     qtv    move PORT_TURN   dir WEST  loc 1662,272  DistToNext 70.000000
    Speed 0, FLAG 1
     time  0.00   tot 136.82
   [ 8]     qtv    move FORWARD   dir WEST  loc 1592,272  DistToNext 0.000000
    Speed 2, FLAG 1
     time 63.00   tot 199.82
   [ 9]     qtv    move STBD_TURN   dir NORTH_WEST  loc 1592,272  DistToNext -5.505498
    Speed 2, FLAG 1
     time  0.00   tot 199.82
   [10]     qtv    move FORWARD   dir NORTH_WEST  loc 1595,269  DistToNext 0.000000
    Speed -1, FLAG 1
     time -19.82   tot 180.00
   [11]     qtv    move STBD_TURN   dir NORTH  loc 1595,269  DistToNext -5.505498
    Speed 0, FLAG 1
     time  0.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir EAST  loc 1340,232  DistToNext 140.000000
    Speed 4, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir EAST  loc 1480,232  DistToNext 0.000000
    Speed 4, FLAG 1
     time 63.00   tot 63.00
   [ 2]     qtv    move PORT_TURN   dir NORTH_EAST  loc 1480,232  DistToNext 70.710678
    Speed 0, FLAG 1
     time  0.00   tot 63.00
   [ 3]     qtv    move FORWARD   dir NORTH_EAST  loc 1530,282  DistToNext 0.000000
    Speed 2, FLAG 1
     time 63.64   tot 126.64
   [ 4]     qtv    move PORT_TURN   dir NORTH  loc 1530,282  DistToNext 70.000000
    Speed 2, FLAG 1
     time  0.00   tot 126.64
   [ 5]     qtv    move FORWARD   dir NORTH  loc 1530,352  DistToNext 0.000000
    Speed 1, FLAG 1
     time 126.00   tot 252.64
   [ 6]     qtv    move PORT_TURN   dir NORTH_WEST  loc 1530,352  DistToNext 0.000000
    Speed 1, FLAG 1
     time  0.00   tot 252.64
   [ 7]     qtv    move PORT_TURN   dir WEST  loc 1530,352  DistToNext 70.000000
    Speed 0, FLAG 1
     time  0.00   tot 252.64
   [ 8]     qtv    move FORWARD   dir WEST  loc 1460,352  DistToNext 0.000000
    Speed 1, FLAG 1
     time 126.00   tot 378.64
   [ 9]     qtv    move STBD_TURN   dir NORTH_WEST  loc 1460,352  DistToNext -55.177666
    Speed 1, FLAG 1
     time  0.00   tot 378.64
   [10]     qtv    move FORWARD   dir NORTH_WEST  loc 1499,313  DistToNext 0.000000
    Speed -1, FLAG 1
     time -198.64   tot 180.00
   [11]     qtv    move PORT_TURN   dir WEST  loc 1499,313  DistToNext -55.177666
    Speed 0, FLAG 1
     time  0.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move STBD_TURN   dir EAST  loc 1490,111  DistToNext 50.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir EAST  loc 1525,76  DistToNext 50.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir NORTH  loc 1970,471  DistToNext 0.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move STBD_TURN   dir NORTH_EAST  loc 1970,471  DistToNext 59.396969
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move FORWARD   dir NORTH_EAST  loc 2012,513  DistToNext 0.000000
    Speed 3, FLAG 1
     time 35.64   tot 35.64
   [ 3]     qtv    move STBD_TURN   dir EAST  loc 2012,513  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot 35.64
   [ 4]     qtv    move FORWARD   dir EAST  loc 2072,513  DistToNext 0.000000
    Speed 5, FLAG 1
     time 21.60   tot 57.24
   [ 5]     qtv    move STBD_TURN   dir SOUTH_EAST  loc 2072,513  DistToNext 118.793938
    Speed 0, FLAG 1
     time  0.00   tot 57.24
   [ 6]     qtv    move FORWARD   dir SOUTH_EAST  loc 2156,429  DistToNext 0.000000
    Speed 4, FLAG 1
     time 53.46   tot 110.69
   [ 7]     qtv    move STBD_TURN   dir SOUTH  loc 2156,429  DistToNext 120.000000
    Speed 0, FLAG 1
     time  0.00   tot 110.69
   [ 8]     qtv    move FORWARD   dir SOUTH  loc 2156,309  DistToNext 0.000000
    Speed 5, FLAG 1
     time 43.20   tot 153.89
   [ 9]     qtv    move STBD_TURN   dir SOUTH_WEST  loc 2156,309  DistToNext 41.012192
    Speed 0, FLAG 1
     time  0.00   tot 153.89
   [10]     qtv    move FORWARD   dir SOUTH_WEST  loc 2127,280  DistToNext 24.041630
    Speed 3, FLAG 1
     time 24.61   tot 178.50
   [11]     qtv    move FORWARD   dir SOUTH_WEST  loc 2144,297  DistToNext 0.000000
    Speed 3, FLAG 2
     time 14.42   tot 192.93
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir SOUTH_EAST  loc 2541,368  DistToNext 0.000000
    Speed 3, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move STBD_TURN   dir SOUTH  loc 2541,368  DistToNext 70.000000
    Speed 3, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move FORWARD   dir SOUTH  loc 2541,298  DistToNext 0.000000
    Speed 3, FLAG 1
     time 42.00   tot 42.00
   [ 3]     qtv    move STBD_TURN   dir SOUTH_WEST  loc 2541,298  DistToNext 70.710678
    Speed 3, FLAG 1
     time  0.00   tot 42.00
   [ 4]     qtv    move FORWARD   dir SOUTH_WEST  loc 2491,248  DistToNext 0.000000
    Speed 2, FLAG 1
     time 63.64   tot 105.64
   [ 5]     qtv    move STBD_TURN   dir WEST  loc 2491,248  DistToNext 0.000000
    Speed 2, FLAG 1
     time  0.00   tot 105.64
   [ 6]     qtv    move STBD_TURN   dir NORTH_WEST  loc 2491,248  DistToNext 70.710678
    Speed 0, FLAG 1
     time  0.00   tot 105.64
   [ 7]     qtv    move FORWARD   dir NORTH_WEST  loc 2441,298  DistToNext 0.000000
    Speed 2, FLAG 1
     time 63.64   tot 169.28
   [ 8]     qtv    move STBD_TURN   dir NORTH  loc 2441,298  DistToNext 5.000000
    Speed 2, FLAG 1
     time  0.00   tot 169.28
   [ 9]     qtv    move FORWARD   dir NORTH  loc 2441,303  DistToNext 59.000000
    Speed 1, FLAG 1
     time  9.00   tot 178.28
   [10]     qtv    move FORWARD   dir NORTH  loc 2441,362  DistToNext 0.000000
    Speed 1, FLAG 2
     time 106.20   tot 284.48
  End Path <===
* ==> Start Path
   [ 0]     qtv    move PORT_TURN   dir WEST  loc 1038,364  DistToNext 60.000000
    Speed 2, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir WEST  loc 978,364  DistToNext 0.000000
    Speed 2, FLAG 1
     time 54.00   tot 54.00
   [ 2]     qtv    move PORT_TURN   dir SOUTH_WEST  loc 978,364  DistToNext 59.396969
    Speed 0, FLAG 1
     time  0.00   tot 54.00
   [ 3]     qtv    move FORWARD   dir SOUTH_WEST  loc 936,322  DistToNext 0.000000
    Speed 4, FLAG 1
     time 26.73   tot 80.73
   [ 4]     qtv    move PORT_TURN   dir SOUTH  loc 936,322  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot 80.73
   [ 5]     qtv    move FORWARD   dir SOUTH  loc 936,262  DistToNext 0.000000
    Speed 6, FLAG 1
     time 18.00   tot 98.73
   [ 6]     qtv    move PORT_TURN   dir SOUTH_EAST  loc 936,262  DistToNext 59.396969
    Speed 0, FLAG 1
     time  0.00   tot 98.73
   [ 7]     qtv    move FORWARD   dir SOUTH_EAST  loc 978,220  DistToNext 0.000000
    Speed 5, FLAG 1
     time 21.38   tot 120.11
   [ 8]     qtv    move PORT_TURN   dir EAST  loc 978,220  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot 120.11
   [ 9]     qtv    move FORWARD   dir EAST  loc 1038,220  DistToNext 0.000000
    Speed 6, FLAG 1
     time 18.00   tot 138.11
   [10]     qtv    move PORT_TURN   dir NORTH_EAST  loc 1038,220  DistToNext 91.923882
    Speed 0, FLAG 1
     time  0.00   tot 138.11
   [11]     qtv    move FORWARD   dir NORTH_EAST  loc 1103,285  DistToNext 0.000000
    Speed 4, FLAG 1
     time 41.37   tot 179.48
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir SOUTH  loc 1663,548  DistToNext 0.000000
    Speed 4, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move PORT_TURN   dir SOUTH_EAST  loc 1663,548  DistToNext 59.396969
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move FORWARD   dir SOUTH_EAST  loc 1705,506  DistToNext 0.000000
    Speed 3, FLAG 1
     time 35.64   tot 35.64
   [ 3]     qtv    move PORT_TURN   dir EAST  loc 1705,506  DistToNext 120.000000
    Speed 0, FLAG 1
     time  0.00   tot 35.64
   [ 4]     qtv    move FORWARD   dir EAST  loc 1825,506  DistToNext 0.000000
    Speed 4, FLAG 1
     time 54.00   tot 89.64
   [ 5]     qtv    move PORT_TURN   dir NORTH_EAST  loc 1825,506  DistToNext 60.811184
    Speed 0, FLAG 1
     time  0.00   tot 89.64
   [ 6]     qtv    move FORWARD   dir NORTH_EAST  loc 1868,549  DistToNext 0.000000
    Speed 2, FLAG 1
     time 54.73   tot 144.37
   [ 7]     qtv    move PORT_TURN   dir NORTH  loc 1868,549  DistToNext 60.000000
    Speed 2, FLAG 1
     time  0.00   tot 144.37
   [ 8]     qtv    move FORWARD   dir NORTH  loc 1868,609  DistToNext 0.000000
    Speed 1, FLAG 1
     time 108.00   tot 252.37
   [ 9]     qtv    move PORT_TURN   dir NORTH_WEST  loc 1868,609  DistToNext 0.000000
    Speed 1, FLAG 1
     time  0.00   tot 252.37
   [10]     qtv    move PORT_TURN   dir WEST  loc 1868,609  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot 252.37
   [11]     qtv    move FORWARD   dir WEST  loc 1808,609  DistToNext 0.000000
    Speed 1, FLAG 1
     time 108.00   tot 360.37
   [12]     qtv    move STBD_TURN   dir NORTH_WEST  loc 1808,609  DistToNext -50.102295
    Speed 1, FLAG 1
     time  0.00   tot 360.37
   [13]     qtv    move FORWARD   dir NORTH_WEST  loc 1843,574  DistToNext -50.102295
    Speed -1, FLAG 1
     time -180.37   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir WEST  loc 712,297  DistToNext 0.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move PORT_TURN   dir SOUTH_WEST  loc 712,297  DistToNext 59.396969
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move FORWARD   dir SOUTH_WEST  loc 670,255  DistToNext 0.000000
    Speed 3, FLAG 1
     time 35.64   tot 35.64
   [ 3]     qtv    move PORT_TURN   dir SOUTH  loc 670,255  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot 35.64
   [ 4]     qtv    move FORWARD   dir SOUTH  loc 670,195  DistToNext 0.000000
    Speed 5, FLAG 1
     time 21.60   tot 57.24
   [ 5]     qtv    move PORT_TURN   dir SOUTH_EAST  loc 670,195  DistToNext 271.528992
    Speed 0, FLAG 1
     time  0.00   tot 57.24
   [ 6]     qtv    move FORWARD   dir SOUTH_EAST  loc 862,3  DistToNext 0.000000
    Speed 4, FLAG 1
     time 122.19   tot 179.42
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir SOUTH_EAST  loc 1854,680  DistToNext 0.000000
    Speed 2, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move PORT_TURN   dir EAST  loc 1854,680  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move FORWARD   dir EAST  loc 1914,680  DistToNext 0.000000
    Speed 3, FLAG 1
     time 36.00   tot 36.00
   [ 3]     qtv    move PORT_TURN   dir NORTH_EAST  loc 1914,680  DistToNext 59.396969
    Speed 0, FLAG 1
     time  0.00   tot 36.00
   [ 4]     qtv    move FORWARD   dir NORTH_EAST  loc 1956,722  DistToNext 0.000000
    Speed 1, FLAG 1
     time 106.91   tot 142.91
   [ 5]     qtv    move PORT_TURN   dir NORTH  loc 1956,722  DistToNext 20.000000
    Speed 0, FLAG 1
     time  0.00   tot 142.91
   [ 6]     qtv    move FORWARD   dir NORTH  loc 1956,742  DistToNext 19.000000
    Speed 1, FLAG 1
     time 36.00   tot 178.91
   [ 7]     qtv    move FORWARD   dir NORTH  loc 1956,761  DistToNext 0.000000
    Speed 1, FLAG 2
     time 34.20   tot 213.11
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir SOUTH  loc 1390,1049  DistToNext 500.000000
    Speed 5, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir SOUTH  loc 1390,549  DistToNext 0.000000
    Speed 5, FLAG 1
     time 180.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move PORT_TURN   dir NORTH_EAST  loc 503,927  DistToNext 50.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir NORTH_EAST  loc 538,892  DistToNext 0.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
   [ 2]     qtv    move STBD_TURN   dir EAST  loc 538,892  DistToNext 50.000000
    Speed 0, FLAG 1
     time  0.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir NORTH_EAST  loc 1391,1015  DistToNext 50.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir NORTH_EAST  loc 1426,980  DistToNext 50.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir WEST  loc 2766,-1733  DistToNext 0.000000
    Speed 2, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move PORT_TURN   dir SOUTH_WEST  loc 2766,-1733  DistToNext 59.396969
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move FORWARD   dir SOUTH_WEST  loc 2724,-1775  DistToNext 0.000000
    Speed 3, FLAG 1
     time 35.64   tot 35.64
   [ 3]     qtv    move PORT_TURN   dir SOUTH  loc 2724,-1775  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot 35.64
   [ 4]     qtv    move FORWARD   dir SOUTH  loc 2724,-1835  DistToNext 0.000000
    Speed 5, FLAG 1
     time 21.60   tot 57.24
   [ 5]     qtv    move PORT_TURN   dir SOUTH_EAST  loc 2724,-1835  DistToNext 59.396969
    Speed 0, FLAG 1
     time  0.00   tot 57.24
   [ 6]     qtv    move FORWARD   dir SOUTH_EAST  loc 2766,-1877  DistToNext 0.000000
    Speed 4, FLAG 1
     time 26.73   tot 83.97
   [ 7]     qtv    move PORT_TURN   dir EAST  loc 2766,-1877  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot 83.97
   [ 8]     qtv    move FORWARD   dir EAST  loc 2826,-1877  DistToNext 0.000000
    Speed 5, FLAG 1
     time 21.60   tot 105.57
   [ 9]     qtv    move PORT_TURN   dir NORTH_EAST  loc 2826,-1877  DistToNext 59.396969
    Speed 0, FLAG 1
     time  0.00   tot 105.57
   [10]     qtv    move FORWARD   dir NORTH_EAST  loc 2868,-1835  DistToNext 0.000000
    Speed 3, FLAG 1
     time 35.64   tot 141.20
   [11]     qtv    move PORT_TURN   dir NORTH  loc 2868,-1835  DistToNext 42.000000
    Speed 0, FLAG 1
     time  0.00   tot 141.20
   [12]     qtv    move FORWARD   dir NORTH  loc 2868,-1793  DistToNext 25.000000
    Speed 2, FLAG 1
     time 37.80   tot 179.00
   [13]     qtv    move FORWARD   dir NORTH  loc 2868,-1818  DistToNext 0.000000
    Speed 2, FLAG 2
     time 22.50   tot 201.50
  End Path <===
* ==> Start Path
   [ 0]     qtv    move PORT_TURN   dir SOUTH_EAST  loc 1688,428  DistToNext 50.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir SOUTH_EAST  loc 1723,393  DistToNext 50.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move STBD_TURN   dir EAST  loc 1804,501  DistToNext 50.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir EAST  loc 1839,466  DistToNext 0.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
   [ 2]     qtv    move PORT_TURN   dir NORTH_EAST  loc 1839,466  DistToNext 50.000000
    Speed 0, FLAG 1
     time  0.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move PORT_TURN   dir SOUTH  loc 1734,-170  DistToNext 50.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir SOUTH  loc 1769,-205  DistToNext 50.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir NORTH_EAST  loc 1432,271  DistToNext 50.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir NORTH_EAST  loc 1467,236  DistToNext 50.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir SOUTH_WEST  loc 1989,-1307  DistToNext 0.000000
    Speed 3, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move STBD_TURN   dir WEST  loc 1989,-1307  DistToNext 200.000000
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move FORWARD   dir WEST  loc 1789,-1307  DistToNext 0.000000
    Speed 2, FLAG 1
     time 180.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir WEST  loc 2937,-1845  DistToNext 0.000000
    Speed 2, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move PORT_TURN   dir SOUTH_WEST  loc 2937,-1845  DistToNext 59.396969
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move FORWARD   dir SOUTH_WEST  loc 2895,-1887  DistToNext 0.000000
    Speed 3, FLAG 1
     time 35.64   tot 35.64
   [ 3]     qtv    move PORT_TURN   dir SOUTH  loc 2895,-1887  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot 35.64
   [ 4]     qtv    move FORWARD   dir SOUTH  loc 2895,-1947  DistToNext 0.000000
    Speed 5, FLAG 1
     time 21.60   tot 57.24
   [ 5]     qtv    move PORT_TURN   dir SOUTH_EAST  loc 2895,-1947  DistToNext 59.396969
    Speed 0, FLAG 1
     time  0.00   tot 57.24
   [ 6]     qtv    move FORWARD   dir SOUTH_EAST  loc 2937,-1989  DistToNext 0.000000
    Speed 4, FLAG 1
     time 26.73   tot 83.97
   [ 7]     qtv    move PORT_TURN   dir EAST  loc 2937,-1989  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot 83.97
   [ 8]     qtv    move FORWARD   dir EAST  loc 2997,-1989  DistToNext 0.000000
    Speed 5, FLAG 1
     time 21.60   tot 105.57
   [ 9]     qtv    move PORT_TURN   dir NORTH_EAST  loc 2997,-1989  DistToNext 59.396969
    Speed 0, FLAG 1
     time  0.00   tot 105.57
   [10]     qtv    move FORWARD   dir NORTH_EAST  loc 3039,-1947  DistToNext 0.000000
    Speed 3, FLAG 1
     time 35.64   tot 141.20
   [11]     qtv    move PORT_TURN   dir NORTH  loc 3039,-1947  DistToNext 42.000000
    Speed 0, FLAG 1
     time  0.00   tot 141.20
   [12]     qtv    move FORWARD   dir NORTH  loc 3039,-1905  DistToNext 25.000000
    Speed 2, FLAG 1
     time 37.80   tot 179.00
   [13]     qtv    move FORWARD   dir NORTH  loc 3039,-1930  DistToNext 0.000000
    Speed 2, FLAG 2
     time 22.50   tot 201.50
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir WEST  loc 1384,1114  DistToNext 50.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir WEST  loc 1419,1079  DistToNext 50.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move PORT_TURN   dir NORTH  loc 1677,55  DistToNext 50.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir NORTH  loc 1712,20  DistToNext 0.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
   [ 2]     qtv    move STBD_TURN   dir NORTH_EAST  loc 1712,20  DistToNext 50.000000
    Speed 0, FLAG 1
     time  0.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move STBD_TURN   dir WEST  loc 3596,-119  DistToNext 60.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir WEST  loc 3536,-119  DistToNext 0.000000
    Speed 1, FLAG 1
     time 108.00   tot 108.00
   [ 2]     qtv    move PORT_TURN   dir SOUTH_WEST  loc 3536,-119  DistToNext 59.396969
    Speed 0, FLAG 1
     time  0.00   tot 108.00
   [ 3]     qtv    move FORWARD   dir SOUTH_WEST  loc 3494,-161  DistToNext 0.000000
    Speed 3, FLAG 1
     time 35.64   tot 143.64
   [ 4]     qtv    move PORT_TURN   dir SOUTH  loc 3494,-161  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot 143.64
   [ 5]     qtv    move FORWARD   dir SOUTH  loc 3494,-221  DistToNext 0.000000
    Speed 5, FLAG 1
     time 21.60   tot 165.24
   [ 6]     qtv    move PORT_TURN   dir SOUTH_EAST  loc 3494,-221  DistToNext 31.112698
    Speed 0, FLAG 1
     time  0.00   tot 165.24
   [ 7]     qtv    move FORWARD   dir SOUTH_EAST  loc 3516,-243  DistToNext 4.242640
    Speed 4, FLAG 1
     time 14.00   tot 179.24
   [ 8]     qtv    move FORWARD   dir SOUTH_EAST  loc 3513,-240  DistToNext 0.000000
    Speed 4, FLAG 2
     time  1.91   tot 181.15
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir EAST  loc 1960,-1330  DistToNext 0.000000
    Speed 2, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move PORT_TURN   dir NORTH_EAST  loc 1960,-1330  DistToNext 69.296463
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move FORWARD   dir NORTH_EAST  loc 2009,-1281  DistToNext 0.000000
    Speed 1, FLAG 1
     time 124.73   tot 124.73
   [ 3]     qtv    move PORT_TURN   dir NORTH  loc 2009,-1281  DistToNext 30.000000
    Speed 0, FLAG 1
     time  0.00   tot 124.73
   [ 4]     qtv    move FORWARD   dir NORTH  loc 2009,-1251  DistToNext 9.000000
    Speed 1, FLAG 1
     time 54.00   tot 178.73
   [ 5]     qtv    move FORWARD   dir NORTH  loc 2009,-1242  DistToNext 0.000000
    Speed 1, FLAG 2
     time 16.20   tot 194.93
  End Path <===
* ==> Start Path
   [ 0]     qtv    move STBD_TURN   dir WEST  loc 1595,269  DistToNext 70.000000
    Speed 2, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir WEST  loc 1525,269  DistToNext 0.000000
    Speed 2, FLAG 1
     time 63.00   tot 63.00
   [ 2]     qtv    move PORT_TURN   dir SOUTH_WEST  loc 1525,269  DistToNext 69.296463
    Speed 0, FLAG 1
     time  0.00   tot 63.00
   [ 3]     qtv    move FORWARD   dir SOUTH_WEST  loc 1476,220  DistToNext 0.000000
    Speed 4, FLAG 1
     time 31.18   tot 94.18
   [ 4]     qtv    move PORT_TURN   dir SOUTH  loc 1476,220  DistToNext 70.000000
    Speed 0, FLAG 1
     time  0.00   tot 94.18
   [ 5]     qtv    move FORWARD   dir SOUTH  loc 1476,150  DistToNext 0.000000
    Speed 6, FLAG 1
     time 21.00   tot 115.18
   [ 6]     qtv    move PORT_TURN   dir SOUTH_EAST  loc 1476,150  DistToNext 69.296463
    Speed 0, FLAG 1
     time  0.00   tot 115.18
   [ 7]     qtv    move FORWARD   dir SOUTH_EAST  loc 1525,101  DistToNext 0.000000
    Speed 5, FLAG 1
     time 24.95   tot 140.13
   [ 8]     qtv    move PORT_TURN   dir EAST  loc 1525,101  DistToNext 70.000000
    Speed 0, FLAG 1
     time  0.00   tot 140.13
   [ 9]     qtv    move FORWARD   dir EAST  loc 1595,101  DistToNext 0.000000
    Speed 6, FLAG 1
     time 21.00   tot 161.13
   [10]     qtv    move PORT_TURN   dir NORTH_EAST  loc 1595,101  DistToNext 39.597980
    Speed 0, FLAG 1
     time  0.00   tot 161.13
   [11]     qtv    move FORWARD   dir NORTH_EAST  loc 1623,129  DistToNext 11.313708
    Speed 4, FLAG 1
     time 17.82   tot 178.95
   [12]     qtv    move FORWARD   dir NORTH_EAST  loc 1615,121  DistToNext 0.000000
    Speed 4, FLAG 2
     time  5.09   tot 184.04
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir EAST  loc 1421,202  DistToNext 140.000000
    Speed 4, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir EAST  loc 1561,202  DistToNext 0.000000
    Speed 4, FLAG 1
     time 63.00   tot 63.00
   [ 2]     qtv    move PORT_TURN   dir NORTH_EAST  loc 1561,202  DistToNext 70.710678
    Speed 0, FLAG 1
     time  0.00   tot 63.00
   [ 3]     qtv    move FORWARD   dir NORTH_EAST  loc 1611,252  DistToNext 0.000000
    Speed 2, FLAG 1
     time 63.64   tot 126.64
   [ 4]     qtv    move PORT_TURN   dir NORTH  loc 1611,252  DistToNext 70.000000
    Speed 2, FLAG 1
     time  0.00   tot 126.64
   [ 5]     qtv    move FORWARD   dir NORTH  loc 1611,322  DistToNext 0.000000
    Speed 1, FLAG 1
     time 126.00   tot 252.64
   [ 6]     qtv    move PORT_TURN   dir NORTH_WEST  loc 1611,322  DistToNext 0.000000
    Speed 1, FLAG 1
     time  0.00   tot 252.64
   [ 7]     qtv    move PORT_TURN   dir WEST  loc 1611,322  DistToNext 70.000000
    Speed 0, FLAG 1
     time  0.00   tot 252.64
   [ 8]     qtv    move FORWARD   dir WEST  loc 1541,322  DistToNext 0.000000
    Speed 1, FLAG 1
     time 126.00   tot 378.64
   [ 9]     qtv    move STBD_TURN   dir NORTH_WEST  loc 1541,322  DistToNext -55.177666
    Speed 1, FLAG 1
     time  0.00   tot 378.64
   [10]     qtv    move FORWARD   dir NORTH_WEST  loc 1580,283  DistToNext -55.177666
    Speed -1, FLAG 1
     time -198.64   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir EAST  loc 1525,76  DistToNext 50.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir EAST  loc 1560,41  DistToNext 0.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
   [ 2]     qtv    move STBD_TURN   dir SOUTH_EAST  loc 1560,41  DistToNext 50.000000
    Speed 0, FLAG 1
     time  0.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir SOUTH_WEST  loc 2127,280  DistToNext 0.000000
    Speed 3, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move PORT_TURN   dir SOUTH  loc 2127,280  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move FORWARD   dir SOUTH  loc 2127,220  DistToNext 0.000000
    Speed 5, FLAG 1
     time 21.60   tot 21.60
   [ 3]     qtv    move PORT_TURN   dir SOUTH_EAST  loc 2127,220  DistToNext 59.396969
    Speed 0, FLAG 1
     time  0.00   tot 21.60
   [ 4]     qtv    move FORWARD   dir SOUTH_EAST  loc 2169,178  DistToNext 0.000000
    Speed 4, FLAG 1
     time 26.73   tot 48.33
   [ 5]     qtv    move PORT_TURN   dir EAST  loc 2169,178  DistToNext 365.000000
    Speed 0, FLAG 1
     time  0.00   tot 48.33
   [ 6]     qtv    move FORWARD   dir EAST  loc 2534,178  DistToNext 0.000000
    Speed 5, FLAG 1
     time 131.40   tot 179.73
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir NORTH  loc 2441,303  DistToNext 0.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move STBD_TURN   dir NORTH_EAST  loc 2441,303  DistToNext 69.296463
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move FORWARD   dir NORTH_EAST  loc 2490,352  DistToNext 0.000000
    Speed 2, FLAG 1
     time 62.37   tot 62.37
   [ 3]     qtv    move STBD_TURN   dir EAST  loc 2490,352  DistToNext 70.000000
    Speed 0, FLAG 1
     time  0.00   tot 62.37
   [ 4]     qtv    move FORWARD   dir EAST  loc 2560,352  DistToNext 0.000000
    Speed 3, FLAG 1
     time 42.00   tot 104.37
   [ 5]     qtv    move STBD_TURN   dir SOUTH_EAST  loc 2560,352  DistToNext 124.450790
    Speed 0, FLAG 1
     time  0.00   tot 104.37
   [ 6]     qtv    move FORWARD   dir SOUTH_EAST  loc 2648,264  DistToNext 0.000000
    Speed 3, FLAG 1
     time 74.67   tot 179.04
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir NORTH_EAST  loc 1103,285  DistToNext 0.000000
    Speed 4, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move STBD_TURN   dir EAST  loc 1103,285  DistToNext 120.000000
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move FORWARD   dir EAST  loc 1223,285  DistToNext 0.000000
    Speed 6, FLAG 1
     time 36.00   tot 36.00
   [ 3]     qtv    move PORT_TURN   dir NORTH_EAST  loc 1223,285  DistToNext 60.811184
    Speed 0, FLAG 1
     time  0.00   tot 36.00
   [ 4]     qtv    move FORWARD   dir NORTH_EAST  loc 1266,328  DistToNext 0.000000
    Speed 4, FLAG 1
     time 27.36   tot 63.36
   [ 5]     qtv    move PORT_TURN   dir NORTH  loc 1266,328  DistToNext 60.000000
    Speed 4, FLAG 1
     time  0.00   tot 63.36
   [ 6]     qtv    move FORWARD   dir NORTH  loc 1266,388  DistToNext 0.000000
    Speed 2, FLAG 1
     time 54.00   tot 117.36
   [ 7]     qtv    move PORT_TURN   dir NORTH_WEST  loc 1266,388  DistToNext 0.000000
    Speed 2, FLAG 1
     time  0.00   tot 117.36
   [ 8]     qtv    move PORT_TURN   dir WEST  loc 1266,388  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot 117.36
   [ 9]     qtv    move FORWARD   dir WEST  loc 1206,388  DistToNext 0.000000
    Speed 2, FLAG 1
     time 54.00   tot 171.36
   [10]     qtv    move STBD_TURN   dir NORTH_WEST  loc 1206,388  DistToNext 2.398605
    Speed 2, FLAG 1
     time  0.00   tot 171.36
   [11]     qtv    move FORWARD   dir NORTH_WEST  loc 1207,387  DistToNext 0.000000
    Speed -1, FLAG 1
     time  8.63   tot 180.00
   [12]     qtv    move PORT_TURN   dir WEST  loc 1207,387  DistToNext 2.398605
    Speed 0, FLAG 1
     time  0.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir NORTH  loc 1843,574  DistToNext 0.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move STBD_TURN   dir NORTH_EAST  loc 1843,574  DistToNext 59.396969
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move FORWARD   dir NORTH_EAST  loc 1885,616  DistToNext 0.000000
    Speed 2, FLAG 1
     time 53.46   tot 53.46
   [ 3]     qtv    move STBD_TURN   dir EAST  loc 1885,616  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot 53.46
   [ 4]     qtv    move FORWARD   dir EAST  loc 1945,616  DistToNext 0.000000
    Speed 4, FLAG 1
     time 27.00   tot 80.46
   [ 5]     qtv    move STBD_TURN   dir SOUTH_EAST  loc 1945,616  DistToNext 118.793938
    Speed 0, FLAG 1
     time  0.00   tot 80.46
   [ 6]     qtv    move FORWARD   dir SOUTH_EAST  loc 2029,532  DistToNext 0.000000
    Speed 3, FLAG 1
     time 71.28   tot 151.73
   [ 7]     qtv    move STBD_TURN   dir SOUTH  loc 2029,532  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot 151.73
   [ 8]     qtv    move FORWARD   dir SOUTH  loc 2029,472  DistToNext 0.000000
    Speed 4, FLAG 1
     time 27.00   tot 178.73
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir SOUTH_EAST  loc 862,3  DistToNext 0.000000
    Speed 4, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move PORT_TURN   dir EAST  loc 862,3  DistToNext 120.000000
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move FORWARD   dir EAST  loc 982,3  DistToNext 0.000000
    Speed 5, FLAG 1
     time 43.20   tot 43.20
   [ 3]     qtv    move PORT_TURN   dir NORTH_EAST  loc 982,3  DistToNext 60.811184
    Speed 0, FLAG 1
     time  0.00   tot 43.20
   [ 4]     qtv    move FORWARD   dir NORTH_EAST  loc 1025,46  DistToNext 0.000000
    Speed 3, FLAG 1
     time 36.49   tot 79.69
   [ 5]     qtv    move PORT_TURN   dir NORTH  loc 1025,46  DistToNext 60.000000
    Speed 3, FLAG 1
     time  0.00   tot 79.69
   [ 6]     qtv    move FORWARD   dir NORTH  loc 1025,106  DistToNext 0.000000
    Speed 1, FLAG 1
     time 108.00   tot 187.69
   [ 7]     qtv    move PORT_TURN   dir NORTH_WEST  loc 1025,106  DistToNext 0.000000
    Speed 1, FLAG 1
     time  0.00   tot 187.69
   [ 8]     qtv    move PORT_TURN   dir WEST  loc 1025,106  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot 187.69
   [ 9]     qtv    move FORWARD   dir WEST  loc 965,106  DistToNext 0.000000
    Speed 1, FLAG 1
     time 108.00   tot 295.68
   [10]     qtv    move STBD_TURN   dir NORTH_WEST  loc 965,106  DistToNext -32.135197
    Speed 1, FLAG 1
     time  0.00   tot 295.68
   [11]     qtv    move FORWARD   dir NORTH_WEST  loc 987,84  DistToNext 0.000000
    Speed -1, FLAG 1
     time -115.69   tot 180.00
   [12]     qtv    move PORT_TURN   dir WEST  loc 987,84  DistToNext -32.135197
    Speed 0, FLAG 1
     time  0.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir NORTH  loc 1956,742  DistToNext 0.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move STBD_TURN   dir NORTH_EAST  loc 1956,742  DistToNext 59.396969
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move FORWARD   dir NORTH_EAST  loc 1998,784  DistToNext 0.000000
    Speed 1, FLAG 1
     time 106.91   tot 106.91
   [ 3]     qtv    move STBD_TURN   dir EAST  loc 1998,784  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot 106.91
   [ 4]     qtv    move FORWARD   dir EAST  loc 2058,784  DistToNext 0.000000
    Speed 3, FLAG 1
     time 36.00   tot 142.91
   [ 5]     qtv    move STBD_TURN   dir SOUTH_EAST  loc 2058,784  DistToNext 39.597980
    Speed 0, FLAG 1
     time  0.00   tot 142.91
   [ 6]     qtv    move FORWARD   dir SOUTH_EAST  loc 2086,756  DistToNext 19.798990
    Speed 2, FLAG 1
     time 35.64   tot 178.55
   [ 7]     qtv    move FORWARD   dir SOUTH_EAST  loc 2072,770  DistToNext 0.000000
    Speed 2, FLAG 2
     time 17.82   tot 196.37
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir SOUTH  loc 1424,1015  DistToNext 500.000000
    Speed 5, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir SOUTH  loc 1424,515  DistToNext 0.000000
    Speed 5, FLAG 1
     time 180.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move STBD_TURN   dir EAST  loc 538,892  DistToNext 50.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir EAST  loc 573,857  DistToNext 0.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
   [ 2]     qtv    move STBD_TURN   dir SOUTH_EAST  loc 573,857  DistToNext 50.000000
    Speed 0, FLAG 1
     time  0.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir NORTH_EAST  loc 1335,1071  DistToNext 50.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir NORTH_EAST  loc 1370,1036  DistToNext 0.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
   [ 2]     qtv    move STBD_TURN   dir EAST  loc 1370,1036  DistToNext 50.000000
    Speed 0, FLAG 1
     time  0.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir NORTH  loc 2868,-1793  DistToNext 0.000000
    Speed 2, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move STBD_TURN   dir NORTH_EAST  loc 2868,-1793  DistToNext 59.396969
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move FORWARD   dir NORTH_EAST  loc 2910,-1751  DistToNext 0.000000
    Speed 3, FLAG 1
     time 35.64   tot 35.64
   [ 3]     qtv    move STBD_TURN   dir EAST  loc 2910,-1751  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot 35.64
   [ 4]     qtv    move FORWARD   dir EAST  loc 2970,-1751  DistToNext 0.000000
    Speed 5, FLAG 1
     time 21.60   tot 57.24
   [ 5]     qtv    move STBD_TURN   dir SOUTH_EAST  loc 2970,-1751  DistToNext 59.396969
    Speed 0, FLAG 1
     time  0.00   tot 57.24
   [ 6]     qtv    move FORWARD   dir SOUTH_EAST  loc 3012,-1793  DistToNext 0.000000
    Speed 4, FLAG 1
     time 26.73   tot 83.97
   [ 7]     qtv    move STBD_TURN   dir SOUTH  loc 3012,-1793  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot 83.97
   [ 8]     qtv    move FORWARD   dir SOUTH  loc 3012,-1853  DistToNext 0.000000
    Speed 5, FLAG 1
     time 21.60   tot 105.57
   [ 9]     qtv    move STBD_TURN   dir SOUTH_WEST  loc 3012,-1853  DistToNext 59.396969
    Speed 0, FLAG 1
     time  0.00   tot 105.57
   [10]     qtv    move FORWARD   dir SOUTH_WEST  loc 2970,-1895  DistToNext 0.000000
    Speed 3, FLAG 1
     time 35.64   tot 141.20
   [11]     qtv    move STBD_TURN   dir WEST  loc 2970,-1895  DistToNext 42.000000
    Speed 0, FLAG 1
     time  0.00   tot 141.20
   [12]     qtv    move FORWARD   dir WEST  loc 2928,-1895  DistToNext 25.000000
    Speed 2, FLAG 1
     time 37.80   tot 179.00
   [13]     qtv    move FORWARD   dir WEST  loc 2953,-1895  DistToNext 0.000000
    Speed 2, FLAG 2
     time 22.50   tot 201.50
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir SOUTH_EAST  loc 1723,393  DistToNext 50.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir SOUTH_EAST  loc 1758,358  DistToNext 0.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
   [ 2]     qtv    move PORT_TURN   dir EAST  loc 1758,358  DistToNext 50.000000
    Speed 0, FLAG 1
     time  0.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move PORT_TURN   dir NORTH_EAST  loc 1839,466  DistToNext 50.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir NORTH_EAST  loc 1874,431  DistToNext 0.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
   [ 2]     qtv    move PORT_TURN   dir NORTH  loc 1874,431  DistToNext 50.000000
    Speed 0, FLAG 1
     time  0.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir SOUTH  loc 1769,-205  DistToNext 50.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir SOUTH  loc 1804,-240  DistToNext 0.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
   [ 2]     qtv    move STBD_TURN   dir SOUTH_WEST  loc 1804,-240  DistToNext 50.000000
    Speed 0, FLAG 1
     time  0.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir NORTH_EAST  loc 1471,232  DistToNext 50.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir NORTH_EAST  loc 1506,197  DistToNext 0.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
   [ 2]     qtv    move STBD_TURN   dir EAST  loc 1506,197  DistToNext 50.000000
    Speed 0, FLAG 1
     time  0.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir WEST  loc 1927,-1250  DistToNext 0.000000
    Speed 2, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move PORT_TURN   dir SOUTH_WEST  loc 1927,-1250  DistToNext 59.396969
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move FORWARD   dir SOUTH_WEST  loc 1885,-1292  DistToNext 0.000000
    Speed 3, FLAG 1
     time 35.64   tot 35.64
   [ 3]     qtv    move PORT_TURN   dir SOUTH  loc 1885,-1292  DistToNext 400.000000
    Speed 0, FLAG 1
     time  0.00   tot 35.64
   [ 4]     qtv    move FORWARD   dir SOUTH  loc 1885,-1692  DistToNext 0.000000
    Speed 5, FLAG 1
     time 144.00   tot 179.64
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir NORTH  loc 3039,-1905  DistToNext 0.000000
    Speed 2, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move STBD_TURN   dir NORTH_EAST  loc 3039,-1905  DistToNext 59.396969
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move FORWARD   dir NORTH_EAST  loc 3081,-1863  DistToNext 0.000000
    Speed 3, FLAG 1
     time 35.64   tot 35.64
   [ 3]     qtv    move STBD_TURN   dir EAST  loc 3081,-1863  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot 35.64
   [ 4]     qtv    move FORWARD   dir EAST  loc 3141,-1863  DistToNext 0.000000
    Speed 5, FLAG 1
     time 21.60   tot 57.24
   [ 5]     qtv    move STBD_TURN   dir SOUTH_EAST  loc 3141,-1863  DistToNext 59.396969
    Speed 0, FLAG 1
     time  0.00   tot 57.24
   [ 6]     qtv    move FORWARD   dir SOUTH_EAST  loc 3183,-1905  DistToNext 0.000000
    Speed 4, FLAG 1
     time 26.73   tot 83.97
   [ 7]     qtv    move STBD_TURN   dir SOUTH  loc 3183,-1905  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot 83.97
   [ 8]     qtv    move FORWARD   dir SOUTH  loc 3183,-1965  DistToNext 0.000000
    Speed 5, FLAG 1
     time 21.60   tot 105.57
   [ 9]     qtv    move STBD_TURN   dir SOUTH_WEST  loc 3183,-1965  DistToNext 59.396969
    Speed 0, FLAG 1
     time  0.00   tot 105.57
   [10]     qtv    move FORWARD   dir SOUTH_WEST  loc 3141,-2007  DistToNext 0.000000
    Speed 3, FLAG 1
     time 35.64   tot 141.20
   [11]     qtv    move STBD_TURN   dir WEST  loc 3141,-2007  DistToNext 42.000000
    Speed 0, FLAG 1
     time  0.00   tot 141.20
   [12]     qtv    move FORWARD   dir WEST  loc 3099,-2007  DistToNext 25.000000
    Speed 2, FLAG 1
     time 37.80   tot 179.00
   [13]     qtv    move FORWARD   dir WEST  loc 3124,-2007  DistToNext 0.000000
    Speed 2, FLAG 2
     time 22.50   tot 201.50
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir WEST  loc 1419,1079  DistToNext 50.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir WEST  loc 1454,1044  DistToNext 0.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
   [ 2]     qtv    move PORT_TURN   dir SOUTH_WEST  loc 1454,1044  DistToNext 50.000000
    Speed 0, FLAG 1
     time  0.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move STBD_TURN   dir NORTH_EAST  loc 1712,20  DistToNext 50.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir NORTH_EAST  loc 1747,-15  DistToNext 0.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
   [ 2]     qtv    move STBD_TURN   dir EAST  loc 1747,-15  DistToNext 50.000000
    Speed 0, FLAG 1
     time  0.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move STBD_TURN   dir SOUTH_EAST  loc 3516,-243  DistToNext 0.000000
    Speed 4, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move STBD_TURN   dir SOUTH  loc 3516,-243  DistToNext 60.000000
    Speed 4, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move FORWARD   dir SOUTH  loc 3516,-303  DistToNext 0.000000
    Speed 5, FLAG 1
     time 21.60   tot 21.60
   [ 3]     qtv    move STBD_TURN   dir SOUTH_WEST  loc 3516,-303  DistToNext 60.811184
    Speed 5, FLAG 1
     time  0.00   tot 21.60
   [ 4]     qtv    move FORWARD   dir SOUTH_WEST  loc 3473,-346  DistToNext 0.000000
    Speed 3, FLAG 1
     time 36.49   tot 58.09
   [ 5]     qtv    move STBD_TURN   dir WEST  loc 3473,-346  DistToNext 0.000000
    Speed 3, FLAG 1
     time  0.00   tot 58.09
   [ 6]     qtv    move STBD_TURN   dir NORTH_WEST  loc 3473,-346  DistToNext 60.811184
    Speed 0, FLAG 1
     time  0.00   tot 58.09
   [ 7]     qtv    move FORWARD   dir NORTH_WEST  loc 3430,-303  DistToNext 0.000000
    Speed 3, FLAG 1
     time 36.49   tot 94.57
   [ 8]     qtv    move PORT_TURN   dir WEST  loc 3430,-303  DistToNext 47.000000
    Speed 3, FLAG 1
     time  0.00   tot 94.57
   [ 9]     qtv    move FORWARD   dir WEST  loc 3383,-303  DistToNext 35.000000
    Speed 1, FLAG 1
     time 84.60   tot 179.17
   [10]     qtv    move FORWARD   dir WEST  loc 3418,-303  DistToNext 0.000000
    Speed 1, FLAG 2
     time 63.00   tot 242.17
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir NORTH  loc 2009,-1251  DistToNext 0.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move STBD_TURN   dir NORTH_EAST  loc 2009,-1251  DistToNext 69.296463
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move FORWARD   dir NORTH_EAST  loc 2058,-1202  DistToNext 0.000000
    Speed 1, FLAG 1
     time 124.73   tot 124.73
   [ 3]     qtv    move STBD_TURN   dir EAST  loc 2058,-1202  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot 124.73
   [ 4]     qtv    move FORWARD   dir EAST  loc 2118,-1202  DistToNext 51.000000
    Speed 2, FLAG 1
     time 54.00   tot 178.73
   [ 5]     qtv    move FORWARD   dir EAST  loc 2067,-1202  DistToNext 0.000000
    Speed 2, FLAG 2
     time 45.90   tot 224.63
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir SOUTH_WEST  loc 1540,240  DistToNext 0.000000
    Speed 4, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move STBD_TURN   dir WEST  loc 1540,240  DistToNext 70.000000
    Speed 4, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move FORWARD   dir WEST  loc 1470,240  DistToNext 0.000000
    Speed 2, FLAG 1
     time 63.00   tot 63.00
   [ 3]     qtv    move STBD_TURN   dir NORTH_WEST  loc 1470,240  DistToNext 70.710678
    Speed 2, FLAG 1
     time  0.00   tot 63.00
   [ 4]     qtv    move FORWARD   dir NORTH_WEST  loc 1420,290  DistToNext 0.000000
    Speed 2, FLAG 1
     time 63.64   tot 126.64
   [ 5]     qtv    move STBD_TURN   dir NORTH  loc 1420,290  DistToNext 0.000000
    Speed 2, FLAG 1
     time  0.00   tot 126.64
   [ 6]     qtv    move STBD_TURN   dir NORTH_EAST  loc 1420,290  DistToNext 70.710678
    Speed 0, FLAG 1
     time  0.00   tot 126.64
   [ 7]     qtv    move FORWARD   dir NORTH_EAST  loc 1470,340  DistToNext 0.000000
    Speed 4, FLAG 1
     time 31.82   tot 158.46
   [ 8]     qtv    move PORT_TURN   dir NORTH  loc 1470,340  DistToNext 23.000000
    Speed 4, FLAG 1
     time  0.00   tot 158.46
   [ 9]     qtv    move FORWARD   dir NORTH  loc 1470,363  DistToNext 23.000000
    Speed 2, FLAG 1
     time 20.70   tot 179.16
   [10]     qtv    move FORWARD   dir NORTH  loc 1470,386  DistToNext 0.000000
    Speed 2, FLAG 2
     time 20.70   tot 199.86
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir EAST  loc 1455,168  DistToNext 140.000000
    Speed 4, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir EAST  loc 1595,168  DistToNext 0.000000
    Speed 4, FLAG 1
     time 63.00   tot 63.00
   [ 2]     qtv    move PORT_TURN   dir NORTH_EAST  loc 1595,168  DistToNext 70.710678
    Speed 0, FLAG 1
     time  0.00   tot 63.00
   [ 3]     qtv    move FORWARD   dir NORTH_EAST  loc 1645,218  DistToNext 0.000000
    Speed 2, FLAG 1
     time 63.64   tot 126.64
   [ 4]     qtv    move PORT_TURN   dir NORTH  loc 1645,218  DistToNext 70.000000
    Speed 2, FLAG 1
     time  0.00   tot 126.64
   [ 5]     qtv    move FORWARD   dir NORTH  loc 1645,288  DistToNext 0.000000
    Speed 1, FLAG 1
     time 126.00   tot 252.64
   [ 6]     qtv    move PORT_TURN   dir NORTH_WEST  loc 1645,288  DistToNext 0.000000
    Speed 1, FLAG 1
     time  0.00   tot 252.64
   [ 7]     qtv    move PORT_TURN   dir WEST  loc 1645,288  DistToNext 70.000000
    Speed 0, FLAG 1
     time  0.00   tot 252.64
   [ 8]     qtv    move FORWARD   dir WEST  loc 1575,288  DistToNext 0.000000
    Speed 1, FLAG 1
     time 126.00   tot 378.64
   [ 9]     qtv    move STBD_TURN   dir NORTH_WEST  loc 1575,288  DistToNext -55.177666
    Speed 1, FLAG 1
     time  0.00   tot 378.64
   [10]     qtv    move FORWARD   dir NORTH_WEST  loc 1614,249  DistToNext -55.177666
    Speed -1, FLAG 1
     time -198.64   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move STBD_TURN   dir SOUTH_EAST  loc 1560,41  DistToNext 50.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir SOUTH_EAST  loc 1595,6  DistToNext 0.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
   [ 2]     qtv    move PORT_TURN   dir EAST  loc 1595,6  DistToNext 50.000000
    Speed 0, FLAG 1
     time  0.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir EAST  loc 2534,178  DistToNext 0.000000
    Speed 5, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move PORT_TURN   dir NORTH_EAST  loc 2534,178  DistToNext 118.793938
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move FORWARD   dir NORTH_EAST  loc 2618,262  DistToNext 0.000000
    Speed 3, FLAG 1
     time 71.28   tot 71.28
   [ 3]     qtv    move PORT_TURN   dir NORTH  loc 2618,262  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot 71.28
   [ 4]     qtv    move FORWARD   dir NORTH  loc 2618,322  DistToNext 0.000000
    Speed 1, FLAG 1
     time 108.00   tot 179.27
   [ 5]     qtv    move PORT_TURN   dir NORTH_WEST  loc 2618,322  DistToNext 60.811184
    Speed 1, FLAG 1
     time  0.00   tot 179.27
   [ 6]     qtv    move FORWARD   dir NORTH_WEST  loc 2575,365  DistToNext 0.000000
    Speed 1, FLAG 1
     time 109.46   tot 288.73
   [ 7]     qtv    move PORT_TURN   dir WEST  loc 2575,365  DistToNext 0.000000
    Speed 1, FLAG 1
     time  0.00   tot 288.73
   [ 8]     qtv    move PORT_TURN   dir SOUTH_WEST  loc 2575,365  DistToNext 60.811184
    Speed 0, FLAG 1
     time  0.00   tot 288.73
   [ 9]     qtv    move FORWARD   dir SOUTH_WEST  loc 2532,322  DistToNext 0.000000
    Speed 3, FLAG 1
     time 36.49   tot 325.22
   [10]     qtv    move STBD_TURN   dir WEST  loc 2532,322  DistToNext 60.000000
    Speed 3, FLAG 1
     time  0.00   tot 325.22
   [11]     qtv    move FORWARD   dir WEST  loc 2472,322  DistToNext 0.000000
    Speed 1, FLAG 1
     time 108.00   tot 433.22
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir SOUTH_EAST  loc 2648,264  DistToNext 0.000000
    Speed 3, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move PORT_TURN   dir EAST  loc 2648,264  DistToNext 70.000000
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move FORWARD   dir EAST  loc 2718,264  DistToNext 0.000000
    Speed 3, FLAG 1
     time 42.00   tot 42.00
   [ 3]     qtv    move PORT_TURN   dir NORTH_EAST  loc 2718,264  DistToNext 138.592926
    Speed 0, FLAG 1
     time  0.00   tot 42.00
   [ 4]     qtv    move FORWARD   dir NORTH_EAST  loc 2816,362  DistToNext 0.000000
    Speed 2, FLAG 1
     time 124.73   tot 166.73
   [ 5]     qtv    move PORT_TURN   dir NORTH  loc 2816,362  DistToNext 70.000000
    Speed 0, FLAG 1
     time  0.00   tot 166.73
   [ 6]     qtv    move FORWARD   dir NORTH  loc 2816,432  DistToNext 0.000000
    Speed 1, FLAG 1
     time 126.00   tot 292.73
   [ 7]     qtv    move PORT_TURN   dir NORTH_WEST  loc 2816,432  DistToNext 70.710678
    Speed 1, FLAG 1
     time  0.00   tot 292.73
   [ 8]     qtv    move FORWARD   dir NORTH_WEST  loc 2766,482  DistToNext 0.000000
    Speed 1, FLAG 1
     time 127.28   tot 420.01
   [ 9]     qtv    move PORT_TURN   dir WEST  loc 2766,482  DistToNext 0.000000
    Speed 1, FLAG 1
     time  0.00   tot 420.01
   [10]     qtv    move PORT_TURN   dir SOUTH_WEST  loc 2766,482  DistToNext 70.710678
    Speed 0, FLAG 1
     time  0.00   tot 420.01
   [11]     qtv    move FORWARD   dir SOUTH_WEST  loc 2716,432  DistToNext 0.000000
    Speed 2, FLAG 1
     time 63.64   tot 483.65
   [12]     qtv    move STBD_TURN   dir WEST  loc 2716,432  DistToNext 6.000000
    Speed 2, FLAG 1
     time  0.00   tot 483.65
   [13]     qtv    move FORWARD   dir WEST  loc 2710,432  DistToNext 57.000000
    Speed 1, FLAG 1
     time 10.80   tot 494.45
   [14]     qtv    move FORWARD   dir WEST  loc 2653,432  DistToNext 0.000000
    Speed 1, FLAG 2
     time 102.60   tot 597.05
  End Path <===
* ==> Start Path
   [ 0]     qtv    move PORT_TURN   dir WEST  loc 1207,387  DistToNext 60.000000
    Speed 2, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir WEST  loc 1147,387  DistToNext 0.000000
    Speed 2, FLAG 1
     time 54.00   tot 54.00
   [ 2]     qtv    move PORT_TURN   dir SOUTH_WEST  loc 1147,387  DistToNext 59.396969
    Speed 0, FLAG 1
     time  0.00   tot 54.00
   [ 3]     qtv    move FORWARD   dir SOUTH_WEST  loc 1105,345  DistToNext 0.000000
    Speed 4, FLAG 1
     time 26.73   tot 80.73
   [ 4]     qtv    move PORT_TURN   dir SOUTH  loc 1105,345  DistToNext 330.000000
    Speed 0, FLAG 1
     time  0.00   tot 80.73
   [ 5]     qtv    move FORWARD   dir SOUTH  loc 1105,15  DistToNext 0.000000
    Speed 6, FLAG 1
     time 99.00   tot 179.73
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir SOUTH  loc 2029,472  DistToNext 0.000000
    Speed 4, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move PORT_TURN   dir SOUTH_EAST  loc 2029,472  DistToNext 59.396969
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move FORWARD   dir SOUTH_EAST  loc 2071,430  DistToNext 0.000000
    Speed 3, FLAG 1
     time 35.64   tot 35.64
   [ 3]     qtv    move PORT_TURN   dir EAST  loc 2071,430  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot 35.64
   [ 4]     qtv    move FORWARD   dir EAST  loc 2131,430  DistToNext 0.000000
    Speed 4, FLAG 1
     time 27.00   tot 62.64
   [ 5]     qtv    move PORT_TURN   dir NORTH_EAST  loc 2131,430  DistToNext 59.396969
    Speed 0, FLAG 1
     time  0.00   tot 62.64
   [ 6]     qtv    move FORWARD   dir NORTH_EAST  loc 2173,472  DistToNext 0.000000
    Speed 2, FLAG 1
     time 53.46   tot 116.09
   [ 7]     qtv    move PORT_TURN   dir NORTH  loc 2173,472  DistToNext 35.000000
    Speed 0, FLAG 1
     time  0.00   tot 116.09
   [ 8]     qtv    move FORWARD   dir NORTH  loc 2173,507  DistToNext 11.000000
    Speed 1, FLAG 1
     time 63.00   tot 179.09
   [ 9]     qtv    move FORWARD   dir NORTH  loc 2173,496  DistToNext 0.000000
    Speed 1, FLAG 2
     time 19.80   tot 198.89
  End Path <===
* ==> Start Path
   [ 0]     qtv    move PORT_TURN   dir NORTH  loc 987,84  DistToNext 60.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir NORTH  loc 987,144  DistToNext 0.000000
    Speed 1, FLAG 1
     time 108.00   tot 108.00
   [ 2]     qtv    move STBD_TURN   dir NORTH_EAST  loc 987,144  DistToNext 59.396969
    Speed 0, FLAG 1
     time  0.00   tot 108.00
   [ 3]     qtv    move FORWARD   dir NORTH_EAST  loc 1029,186  DistToNext 0.000000
    Speed 3, FLAG 1
     time 35.64   tot 143.64
   [ 4]     qtv    move STBD_TURN   dir EAST  loc 1029,186  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot 143.64
   [ 5]     qtv    move FORWARD   dir EAST  loc 1089,186  DistToNext 0.000000
    Speed 5, FLAG 1
     time 21.60   tot 165.24
   [ 6]     qtv    move STBD_TURN   dir SOUTH_EAST  loc 1089,186  DistToNext 31.112698
    Speed 0, FLAG 1
     time  0.00   tot 165.24
   [ 7]     qtv    move FORWARD   dir SOUTH_EAST  loc 1111,164  DistToNext 4.242640
    Speed 4, FLAG 1
     time 14.00   tot 179.24
   [ 8]     qtv    move FORWARD   dir SOUTH_EAST  loc 1108,167  DistToNext 0.000000
    Speed 4, FLAG 2
     time  1.91   tot 181.15
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir SOUTH_EAST  loc 2086,756  DistToNext 0.000000
    Speed 2, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move PORT_TURN   dir EAST  loc 2086,756  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move FORWARD   dir EAST  loc 2146,756  DistToNext 0.000000
    Speed 3, FLAG 1
     time 36.00   tot 36.00
   [ 3]     qtv    move PORT_TURN   dir NORTH_EAST  loc 2146,756  DistToNext 59.396969
    Speed 0, FLAG 1
     time  0.00   tot 36.00
   [ 4]     qtv    move FORWARD   dir NORTH_EAST  loc 2188,798  DistToNext 0.000000
    Speed 1, FLAG 1
     time 106.91   tot 142.91
   [ 5]     qtv    move PORT_TURN   dir NORTH  loc 2188,798  DistToNext 20.000000
    Speed 0, FLAG 1
     time  0.00   tot 142.91
   [ 6]     qtv    move FORWARD   dir NORTH  loc 2188,818  DistToNext 19.000000
    Speed 1, FLAG 1
     time 36.00   tot 178.91
   [ 7]     qtv    move FORWARD   dir NORTH  loc 2188,837  DistToNext 0.000000
    Speed 1, FLAG 2
     time 34.20   tot 213.11
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir SOUTH  loc 1424,515  DistToNext 0.000000
    Speed 5, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move BACK_SAIL   dir SOUTH_EAST  loc 1424,515  DistToNext 398.808228
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move PORT_TURN   dir SOUTH_EAST  loc 1424,515  DistToNext 131.521866
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 3]     qtv    move FORWARD   dir SOUTH_EAST  loc 1517,422  DistToNext 0.000000
    Speed 4, FLAG 1
     time 59.18   tot 59.18
   [ 4]     qtv    move NO_DIRECTION   dir SOUTH_EAST  loc 1517,422  DistToNext 398.808228
    Speed 0, FLAG 1
     time  0.00   tot 59.18
  End Path <===
* ==> Start Path
   [ 0]     qtv    move STBD_TURN   dir SOUTH_EAST  loc 573,857  DistToNext 50.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir SOUTH_EAST  loc 608,822  DistToNext 50.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move STBD_TURN   dir EAST  loc 1370,1036  DistToNext 50.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir EAST  loc 1405,1001  DistToNext 0.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
   [ 2]     qtv    move PORT_TURN   dir NORTH_EAST  loc 1405,1001  DistToNext 50.000000
    Speed 0, FLAG 1
     time  0.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir WEST  loc 2928,-1895  DistToNext 0.000000
    Speed 2, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move PORT_TURN   dir SOUTH_WEST  loc 2928,-1895  DistToNext 59.396969
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move FORWARD   dir SOUTH_WEST  loc 2886,-1937  DistToNext 0.000000
    Speed 3, FLAG 1
     time 35.64   tot 35.64
   [ 3]     qtv    move PORT_TURN   dir SOUTH  loc 2886,-1937  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot 35.64
   [ 4]     qtv    move FORWARD   dir SOUTH  loc 2886,-1997  DistToNext 0.000000
    Speed 5, FLAG 1
     time 21.60   tot 57.24
   [ 5]     qtv    move PORT_TURN   dir SOUTH_EAST  loc 2886,-1997  DistToNext 59.396969
    Speed 0, FLAG 1
     time  0.00   tot 57.24
   [ 6]     qtv    move FORWARD   dir SOUTH_EAST  loc 2928,-2039  DistToNext 0.000000
    Speed 4, FLAG 1
     time 26.73   tot 83.97
   [ 7]     qtv    move PORT_TURN   dir EAST  loc 2928,-2039  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot 83.97
   [ 8]     qtv    move FORWARD   dir EAST  loc 2988,-2039  DistToNext 0.000000
    Speed 5, FLAG 1
     time 21.60   tot 105.57
   [ 9]     qtv    move PORT_TURN   dir NORTH_EAST  loc 2988,-2039  DistToNext 59.396969
    Speed 0, FLAG 1
     time  0.00   tot 105.57
   [10]     qtv    move FORWARD   dir NORTH_EAST  loc 3030,-1997  DistToNext 0.000000
    Speed 3, FLAG 1
     time 35.64   tot 141.20
   [11]     qtv    move PORT_TURN   dir NORTH  loc 3030,-1997  DistToNext 42.000000
    Speed 0, FLAG 1
     time  0.00   tot 141.20
   [12]     qtv    move FORWARD   dir NORTH  loc 3030,-1955  DistToNext 25.000000
    Speed 2, FLAG 1
     time 37.80   tot 179.00
   [13]     qtv    move FORWARD   dir NORTH  loc 3030,-1980  DistToNext 0.000000
    Speed 2, FLAG 2
     time 22.50   tot 201.50
  End Path <===
* ==> Start Path
   [ 0]     qtv    move PORT_TURN   dir EAST  loc 1758,358  DistToNext 50.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir EAST  loc 1793,323  DistToNext 0.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
   [ 2]     qtv    move PORT_TURN   dir NORTH_EAST  loc 1793,323  DistToNext 50.000000
    Speed 0, FLAG 1
     time  0.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move PORT_TURN   dir NORTH  loc 1874,431  DistToNext 50.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir NORTH  loc 1909,396  DistToNext 0.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
   [ 2]     qtv    move STBD_TURN   dir NORTH_EAST  loc 1909,396  DistToNext 50.000000
    Speed 0, FLAG 1
     time  0.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move STBD_TURN   dir SOUTH_WEST  loc 1804,-240  DistToNext 50.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir SOUTH_WEST  loc 1839,-275  DistToNext 50.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir NORTH_EAST  loc 1505,198  DistToNext 50.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir NORTH_EAST  loc 1540,163  DistToNext 50.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir SOUTH  loc 1885,-1692  DistToNext 0.000000
    Speed 5, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move STBD_TURN   dir SOUTH_WEST  loc 1885,-1692  DistToNext 60.811184
    Speed 5, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move FORWARD   dir SOUTH_WEST  loc 1842,-1735  DistToNext 0.000000
    Speed 3, FLAG 1
     time 36.49   tot 36.49
   [ 3]     qtv    move STBD_TURN   dir WEST  loc 1842,-1735  DistToNext 60.000000
    Speed 3, FLAG 1
     time  0.00   tot 36.49
   [ 4]     qtv    move FORWARD   dir WEST  loc 1782,-1735  DistToNext 0.000000
    Speed 2, FLAG 1
     time 54.00   tot 90.49
   [ 5]     qtv    move STBD_TURN   dir NORTH_WEST  loc 1782,-1735  DistToNext 0.000000
    Speed 2, FLAG 1
     time  0.00   tot 90.49
   [ 6]     qtv    move STBD_TURN   dir NORTH  loc 1782,-1735  DistToNext 99.000000
    Speed 0, FLAG 1
     time  0.00   tot 90.49
   [ 7]     qtv    move FORWARD   dir NORTH  loc 1782,-1636  DistToNext 19.000000
    Speed 2, FLAG 1
     time 89.10   tot 179.59
   [ 8]     qtv    move FORWARD   dir NORTH  loc 1782,-1655  DistToNext 0.000000
    Speed 2, FLAG 2
     time 17.10   tot 196.69
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir WEST  loc 3099,-2007  DistToNext 0.000000
    Speed 2, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move PORT_TURN   dir SOUTH_WEST  loc 3099,-2007  DistToNext 59.396969
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move FORWARD   dir SOUTH_WEST  loc 3057,-2049  DistToNext 0.000000
    Speed 3, FLAG 1
     time 35.64   tot 35.64
   [ 3]     qtv    move PORT_TURN   dir SOUTH  loc 3057,-2049  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot 35.64
   [ 4]     qtv    move FORWARD   dir SOUTH  loc 3057,-2109  DistToNext 0.000000
    Speed 5, FLAG 1
     time 21.60   tot 57.24
   [ 5]     qtv    move PORT_TURN   dir SOUTH_EAST  loc 3057,-2109  DistToNext 59.396969
    Speed 0, FLAG 1
     time  0.00   tot 57.24
   [ 6]     qtv    move FORWARD   dir SOUTH_EAST  loc 3099,-2151  DistToNext 0.000000
    Speed 4, FLAG 1
     time 26.73   tot 83.97
   [ 7]     qtv    move PORT_TURN   dir EAST  loc 3099,-2151  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot 83.97
   [ 8]     qtv    move FORWARD   dir EAST  loc 3159,-2151  DistToNext 0.000000
    Speed 5, FLAG 1
     time 21.60   tot 105.57
   [ 9]     qtv    move PORT_TURN   dir NORTH_EAST  loc 3159,-2151  DistToNext 59.396969
    Speed 0, FLAG 1
     time  0.00   tot 105.57
   [10]     qtv    move FORWARD   dir NORTH_EAST  loc 3201,-2109  DistToNext 0.000000
    Speed 3, FLAG 1
     time 35.64   tot 141.20
   [11]     qtv    move PORT_TURN   dir NORTH  loc 3201,-2109  DistToNext 42.000000
    Speed 0, FLAG 1
     time  0.00   tot 141.20
   [12]     qtv    move FORWARD   dir NORTH  loc 3201,-2067  DistToNext 25.000000
    Speed 2, FLAG 1
     time 37.80   tot 179.00
   [13]     qtv    move FORWARD   dir NORTH  loc 3201,-2092  DistToNext 0.000000
    Speed 2, FLAG 2
     time 22.50   tot 201.50
  End Path <===
* ==> Start Path
   [ 0]     qtv    move PORT_TURN   dir SOUTH_WEST  loc 1454,1044  DistToNext 50.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir SOUTH_WEST  loc 1489,1009  DistToNext 0.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
   [ 2]     qtv    move PORT_TURN   dir SOUTH  loc 1489,1009  DistToNext 50.000000
    Speed 0, FLAG 1
     time  0.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move STBD_TURN   dir EAST  loc 1747,-15  DistToNext 50.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir EAST  loc 1782,-50  DistToNext 0.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
   [ 2]     qtv    move STBD_TURN   dir SOUTH_EAST  loc 1782,-50  DistToNext 50.000000
    Speed 0, FLAG 1
     time  0.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move STBD_TURN   dir WEST  loc 3383,-303  DistToNext 60.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir WEST  loc 3323,-303  DistToNext 0.000000
    Speed 1, FLAG 1
     time 108.00   tot 108.00
   [ 2]     qtv    move PORT_TURN   dir SOUTH_WEST  loc 3323,-303  DistToNext 59.396969
    Speed 0, FLAG 1
     time  0.00   tot 108.00
   [ 3]     qtv    move FORWARD   dir SOUTH_WEST  loc 3281,-345  DistToNext 0.000000
    Speed 3, FLAG 1
     time 35.64   tot 143.64
   [ 4]     qtv    move PORT_TURN   dir SOUTH  loc 3281,-345  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot 143.64
   [ 5]     qtv    move FORWARD   dir SOUTH  loc 3281,-405  DistToNext 0.000000
    Speed 5, FLAG 1
     time 21.60   tot 165.24
   [ 6]     qtv    move PORT_TURN   dir SOUTH_EAST  loc 3281,-405  DistToNext 31.112698
    Speed 0, FLAG 1
     time  0.00   tot 165.24
   [ 7]     qtv    move FORWARD   dir SOUTH_EAST  loc 3303,-427  DistToNext 4.242640
    Speed 4, FLAG 1
     time 14.00   tot 179.24
   [ 8]     qtv    move FORWARD   dir SOUTH_EAST  loc 3300,-424  DistToNext 0.000000
    Speed 4, FLAG 2
     time  1.91   tot 181.15
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir EAST  loc 2118,-1202  DistToNext 0.000000
    Speed 2, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move STBD_TURN   dir SOUTH_EAST  loc 2118,-1202  DistToNext 138.592926
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move FORWARD   dir SOUTH_EAST  loc 2216,-1300  DistToNext 0.000000
    Speed 2, FLAG 1
     time 124.73   tot 124.73
   [ 3]     qtv    move STBD_TURN   dir SOUTH  loc 2216,-1300  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot 124.73
   [ 4]     qtv    move FORWARD   dir SOUTH  loc 2216,-1360  DistToNext 51.000000
    Speed 2, FLAG 1
     time 54.00   tot 178.73
   [ 5]     qtv    move FORWARD   dir SOUTH  loc 2216,-1309  DistToNext 0.000000
    Speed 2, FLAG 2
     time 45.90   tot 224.63
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir WEST  loc 1571,206  DistToNext 0.000000
    Speed 2, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move PORT_TURN   dir SOUTH_WEST  loc 1571,206  DistToNext 0.000000
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move STBD_TURN   dir WEST  loc 1571,206  DistToNext 70.000000
    Speed 2, FLAG 1
     time  0.00   tot  0.00
   [ 3]     qtv    move FORWARD   dir WEST  loc 1501,206  DistToNext 0.000000
    Speed 2, FLAG 1
     time 63.00   tot 63.00
   [ 4]     qtv    move STBD_TURN   dir NORTH_WEST  loc 1501,206  DistToNext 70.710678
    Speed 2, FLAG 1
     time  0.00   tot 63.00
   [ 5]     qtv    move FORWARD   dir NORTH_WEST  loc 1451,256  DistToNext 0.000000
    Speed 2, FLAG 1
     time 63.64   tot 126.64
   [ 6]     qtv    move STBD_TURN   dir NORTH  loc 1451,256  DistToNext 0.000000
    Speed 2, FLAG 1
     time  0.00   tot 126.64
   [ 7]     qtv    move STBD_TURN   dir NORTH_EAST  loc 1451,256  DistToNext 70.710678
    Speed 0, FLAG 1
     time  0.00   tot 126.64
   [ 8]     qtv    move FORWARD   dir NORTH_EAST  loc 1501,306  DistToNext 0.000000
    Speed 4, FLAG 1
     time 31.82   tot 158.46
   [ 9]     qtv    move PORT_TURN   dir NORTH  loc 1501,306  DistToNext 23.000000
    Speed 4, FLAG 1
     time  0.00   tot 158.46
   [10]     qtv    move FORWARD   dir NORTH  loc 1501,329  DistToNext 23.000000
    Speed 2, FLAG 1
     time 20.70   tot 179.16
   [11]     qtv    move FORWARD   dir NORTH  loc 1501,352  DistToNext 0.000000
    Speed 2, FLAG 2
     time 20.70   tot 199.86
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir EAST  loc 1399,224  DistToNext 140.000000
    Speed 4, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir EAST  loc 1539,224  DistToNext 0.000000
    Speed 4, FLAG 1
     time 63.00   tot 63.00
   [ 2]     qtv    move PORT_TURN   dir NORTH_EAST  loc 1539,224  DistToNext 70.710678
    Speed 0, FLAG 1
     time  0.00   tot 63.00
   [ 3]     qtv    move FORWARD   dir NORTH_EAST  loc 1589,274  DistToNext 0.000000
    Speed 2, FLAG 1
     time 63.64   tot 126.64
   [ 4]     qtv    move PORT_TURN   dir NORTH  loc 1589,274  DistToNext 70.000000
    Speed 2, FLAG 1
     time  0.00   tot 126.64
   [ 5]     qtv    move FORWARD   dir NORTH  loc 1589,344  DistToNext 0.000000
    Speed 1, FLAG 1
     time 126.00   tot 252.64
   [ 6]     qtv    move PORT_TURN   dir NORTH_WEST  loc 1589,344  DistToNext 0.000000
    Speed 1, FLAG 1
     time  0.00   tot 252.64
   [ 7]     qtv    move PORT_TURN   dir WEST  loc 1589,344  DistToNext 70.000000
    Speed 0, FLAG 1
     time  0.00   tot 252.64
   [ 8]     qtv    move FORWARD   dir WEST  loc 1519,344  DistToNext 0.000000
    Speed 1, FLAG 1
     time 126.00   tot 378.64
   [ 9]     qtv    move STBD_TURN   dir NORTH_WEST  loc 1519,344  DistToNext -55.177666
    Speed 1, FLAG 1
     time  0.00   tot 378.64
   [10]     qtv    move FORWARD   dir NORTH_WEST  loc 1558,305  DistToNext 0.000000
    Speed -1, FLAG 1
     time -198.64   tot 180.00
   [11]     qtv    move STBD_TURN   dir NORTH  loc 1558,305  DistToNext -55.177666
    Speed 0, FLAG 1
     time  0.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move PORT_TURN   dir EAST  loc 1595,6  DistToNext 50.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir EAST  loc 1630,-29  DistToNext 0.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
   [ 2]     qtv    move PORT_TURN   dir NORTH_EAST  loc 1630,-29  DistToNext 50.000000
    Speed 0, FLAG 1
     time  0.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir NORTH_WEST  loc 2472,322  DistToNext 50.000000
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir NORTH_WEST  loc 2507,287  DistToNext 0.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
   [ 2]     qtv    move STBD_TURN   dir NORTH  loc 2507,287  DistToNext 50.000000
    Speed 0, FLAG 1
     time  0.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir NORTH  loc 2710,432  DistToNext 0.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move STBD_TURN   dir NORTH_EAST  loc 2710,432  DistToNext 69.296463
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move FORWARD   dir NORTH_EAST  loc 2759,481  DistToNext 0.000000
    Speed 2, FLAG 1
     time 62.37   tot 62.37
   [ 3]     qtv    move STBD_TURN   dir EAST  loc 2759,481  DistToNext 70.000000
    Speed 0, FLAG 1
     time  0.00   tot 62.37
   [ 4]     qtv    move FORWARD   dir EAST  loc 2829,481  DistToNext 0.000000
    Speed 3, FLAG 1
     time 42.00   tot 104.37
   [ 5]     qtv    move STBD_TURN   dir SOUTH_EAST  loc 2829,481  DistToNext 124.450790
    Speed 0, FLAG 1
     time  0.00   tot 104.37
   [ 6]     qtv    move FORWARD   dir SOUTH_EAST  loc 2917,393  DistToNext 0.000000
    Speed 3, FLAG 1
     time 74.67   tot 179.04
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir SOUTH  loc 1105,15  DistToNext 0.000000
    Speed 6, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move PORT_TURN   dir SOUTH_EAST  loc 1105,15  DistToNext 59.396969
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move FORWARD   dir SOUTH_EAST  loc 1147,-27  DistToNext 0.000000
    Speed 5, FLAG 1
     time 21.38   tot 21.38
   [ 3]     qtv    move PORT_TURN   dir EAST  loc 1147,-27  DistToNext 120.000000
    Speed 0, FLAG 1
     time  0.00   tot 21.38
   [ 4]     qtv    move FORWARD   dir EAST  loc 1267,-27  DistToNext 0.000000
    Speed 6, FLAG 1
     time 36.00   tot 57.38
   [ 5]     qtv    move PORT_TURN   dir NORTH_EAST  loc 1267,-27  DistToNext 60.811184
    Speed 0, FLAG 1
     time  0.00   tot 57.38
   [ 6]     qtv    move FORWARD   dir NORTH_EAST  loc 1310,16  DistToNext 0.000000
    Speed 4, FLAG 1
     time 27.36   tot 84.75
   [ 7]     qtv    move PORT_TURN   dir NORTH  loc 1310,16  DistToNext 60.000000
    Speed 4, FLAG 1
     time  0.00   tot 84.75
   [ 8]     qtv    move FORWARD   dir NORTH  loc 1310,76  DistToNext 0.000000
    Speed 2, FLAG 1
     time 54.00   tot 138.75
   [ 9]     qtv    move PORT_TURN   dir NORTH_WEST  loc 1310,76  DistToNext 0.000000
    Speed 2, FLAG 1
     time  0.00   tot 138.75
   [10]     qtv    move PORT_TURN   dir WEST  loc 1310,76  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot 138.75
   [11]     qtv    move FORWARD   dir WEST  loc 1250,76  DistToNext 0.000000
    Speed 2, FLAG 1
     time 54.00   tot 192.75
   [12]     qtv    move STBD_TURN   dir NORTH_WEST  loc 1250,76  DistToNext -3.541095
    Speed 2, FLAG 1
     time  0.00   tot 192.75
   [13]     qtv    move FORWARD   dir NORTH_WEST  loc 1252,74  DistToNext 0.000000
    Speed -1, FLAG 1
     time -12.75   tot 180.00
   [14]     qtv    move STBD_TURN   dir NORTH  loc 1252,74  DistToNext -3.541095
    Speed 0, FLAG 1
     time  0.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir NORTH  loc 2173,507  DistToNext 0.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move STBD_TURN   dir NORTH_EAST  loc 2173,507  DistToNext 59.396969
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move FORWARD   dir NORTH_EAST  loc 2215,549  DistToNext 0.000000
    Speed 2, FLAG 1
     time 53.46   tot 53.46
   [ 3]     qtv    move STBD_TURN   dir EAST  loc 2215,549  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot 53.46
   [ 4]     qtv    move FORWARD   dir EAST  loc 2275,549  DistToNext 0.000000
    Speed 4, FLAG 1
     time 27.00   tot 80.46
   [ 5]     qtv    move STBD_TURN   dir SOUTH_EAST  loc 2275,549  DistToNext 164.048767
    Speed 0, FLAG 1
     time  0.00   tot 80.46
   [ 6]     qtv    move FORWARD   dir SOUTH_EAST  loc 2391,433  DistToNext 0.000000
    Speed 3, FLAG 1
     time 98.43   tot 178.89
  End Path <===
* ==> Start Path
   [ 0]     qtv    move PORT_TURN   dir SOUTH_EAST  loc 1111,164  DistToNext 59.396969
    Speed 4, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir SOUTH_EAST  loc 1153,122  DistToNext 0.000000
    Speed 4, FLAG 1
     time 26.73   tot 26.73
   [ 2]     qtv    move PORT_TURN   dir EAST  loc 1153,122  DistToNext 425.000000
    Speed 0, FLAG 1
     time  0.00   tot 26.73
   [ 3]     qtv    move FORWARD   dir EAST  loc 1578,122  DistToNext 0.000000
    Speed 5, FLAG 1
     time 153.00   tot 179.73
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir NORTH  loc 2188,818  DistToNext 0.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move STBD_TURN   dir NORTH_EAST  loc 2188,818  DistToNext 59.396969
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move FORWARD   dir NORTH_EAST  loc 2230,860  DistToNext 0.000000
    Speed 1, FLAG 1
     time 106.91   tot 106.91
   [ 3]     qtv    move STBD_TURN   dir EAST  loc 2230,860  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot 106.91
   [ 4]     qtv    move FORWARD   dir EAST  loc 2290,860  DistToNext 0.000000
    Speed 3, FLAG 1
     time 36.00   tot 142.91
   [ 5]     qtv    move STBD_TURN   dir SOUTH_EAST  loc 2290,860  DistToNext 39.597980
    Speed 0, FLAG 1
     time  0.00   tot 142.91
   [ 6]     qtv    move FORWARD   dir SOUTH_EAST  loc 2318,832  DistToNext 19.798990
    Speed 2, FLAG 1
     time 35.64   tot 178.55
   [ 7]     qtv    move FORWARD   dir SOUTH_EAST  loc 2304,846  DistToNext 0.000000
    Speed 2, FLAG 2
     time 17.82   tot 196.37
  End Path <===
* ==> Start Path
   [ 0]     qtv    move NO_DIRECTION   dir SOUTH_EAST  loc 1517,422  DistToNext 59.396969
    Speed 4, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir SOUTH_EAST  loc 1559,380  DistToNext 0.000000
    Speed 4, FLAG 1
     time 26.73   tot 26.73
   [ 2]     qtv    move PORT_TURN   dir EAST  loc 1559,380  DistToNext 60.000000
    Speed 4, FLAG 1
     time  0.00   tot 26.73
   [ 3]     qtv    move FORWARD   dir EAST  loc 1619,380  DistToNext 0.000000
    Speed 5, FLAG 1
     time 21.60   tot 48.33
   [ 4]     qtv    move PORT_TURN   dir NORTH_EAST  loc 1619,380  DistToNext 60.811184
    Speed 5, FLAG 1
     time  0.00   tot 48.33
   [ 5]     qtv    move FORWARD   dir NORTH_EAST  loc 1662,423  DistToNext 0.000000
    Speed 3, FLAG 1
     time 36.49   tot 84.81
   [ 6]     qtv    move PORT_TURN   dir NORTH  loc 1662,423  DistToNext 0.000000
    Speed 3, FLAG 1
     time  0.00   tot 84.81
   [ 7]     qtv    move PORT_TURN   dir NORTH_WEST  loc 1662,423  DistToNext 60.811184
    Speed 0, FLAG 1
     time  0.00   tot 84.81
   [ 8]     qtv    move FORWARD   dir NORTH_WEST  loc 1619,466  DistToNext 0.000000
    Speed 3, FLAG 1
     time 36.49   tot 121.30
   [ 9]     qtv    move PORT_TURN   dir WEST  loc 1619,466  DistToNext 65.000000
    Speed 3, FLAG 1
     time  0.00   tot 121.30
   [10]     qtv    move FORWARD   dir WEST  loc 1554,466  DistToNext 0.000000
    Speed 2, FLAG 1
     time 58.50   tot 179.80
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir SOUTH_EAST  loc 608,822  DistToNext 50.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir SOUTH_EAST  loc 643,787  DistToNext 0.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
   [ 2]     qtv    move STBD_TURN   dir SOUTH  loc 643,787  DistToNext 50.000000
    Speed 0, FLAG 1
     time  0.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move PORT_TURN   dir NORTH_EAST  loc 1405,1001  DistToNext 50.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir NORTH_EAST  loc 1440,966  DistToNext 0.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
   [ 2]     qtv    move STBD_TURN   dir EAST  loc 1440,966  DistToNext 50.000000
    Speed 0, FLAG 1
     time  0.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir NORTH  loc 3030,-1955  DistToNext 0.000000
    Speed 2, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move STBD_TURN   dir NORTH_EAST  loc 3030,-1955  DistToNext 59.396969
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move FORWARD   dir NORTH_EAST  loc 3072,-1913  DistToNext 0.000000
    Speed 3, FLAG 1
     time 35.64   tot 35.64
   [ 3]     qtv    move STBD_TURN   dir EAST  loc 3072,-1913  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot 35.64
   [ 4]     qtv    move FORWARD   dir EAST  loc 3132,-1913  DistToNext 0.000000
    Speed 5, FLAG 1
     time 21.60   tot 57.24
   [ 5]     qtv    move STBD_TURN   dir SOUTH_EAST  loc 3132,-1913  DistToNext 59.396969
    Speed 0, FLAG 1
     time  0.00   tot 57.24
   [ 6]     qtv    move FORWARD   dir SOUTH_EAST  loc 3174,-1955  DistToNext 0.000000
    Speed 4, FLAG 1
     time 26.73   tot 83.97
   [ 7]     qtv    move STBD_TURN   dir SOUTH  loc 3174,-1955  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot 83.97
   [ 8]     qtv    move FORWARD   dir SOUTH  loc 3174,-2015  DistToNext 0.000000
    Speed 5, FLAG 1
     time 21.60   tot 105.57
   [ 9]     qtv    move STBD_TURN   dir SOUTH_WEST  loc 3174,-2015  DistToNext 59.396969
    Speed 0, FLAG 1
     time  0.00   tot 105.57
   [10]     qtv    move FORWARD   dir SOUTH_WEST  loc 3132,-2057  DistToNext 0.000000
    Speed 3, FLAG 1
     time 35.64   tot 141.20
   [11]     qtv    move STBD_TURN   dir WEST  loc 3132,-2057  DistToNext 42.000000
    Speed 0, FLAG 1
     time  0.00   tot 141.20
   [12]     qtv    move FORWARD   dir WEST  loc 3090,-2057  DistToNext 25.000000
    Speed 2, FLAG 1
     time 37.80   tot 179.00
   [13]     qtv    move FORWARD   dir WEST  loc 3115,-2057  DistToNext 0.000000
    Speed 2, FLAG 2
     time 22.50   tot 201.50
  End Path <===
* ==> Start Path
   [ 0]     qtv    move PORT_TURN   dir NORTH_EAST  loc 1793,323  DistToNext 50.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir NORTH_EAST  loc 1828,288  DistToNext 0.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
   [ 2]     qtv    move PORT_TURN   dir NORTH  loc 1828,288  DistToNext 50.000000
    Speed 0, FLAG 1
     time  0.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move STBD_TURN   dir NORTH_EAST  loc 1909,396  DistToNext 50.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir NORTH_EAST  loc 1944,361  DistToNext 0.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
   [ 2]     qtv    move PORT_TURN   dir NORTH  loc 1944,361  DistToNext 50.000000
    Speed 0, FLAG 1
     time  0.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir SOUTH_WEST  loc 1839,-275  DistToNext 50.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir SOUTH_WEST  loc 1874,-310  DistToNext 0.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
   [ 2]     qtv    move STBD_TURN   dir WEST  loc 1874,-310  DistToNext 50.000000
    Speed 0, FLAG 1
     time  0.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir NORTH_EAST  loc 1539,254  DistToNext 50.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir NORTH_EAST  loc 1574,219  DistToNext 0.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
   [ 2]     qtv    move PORT_TURN   dir NORTH  loc 1574,219  DistToNext 50.000000
    Speed 0, FLAG 1
     time  0.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir NORTH  loc 1782,-1636  DistToNext 0.000000
    Speed 2, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move STBD_TURN   dir NORTH_EAST  loc 1782,-1636  DistToNext 299.813263
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move FORWARD   dir NORTH_EAST  loc 1994,-1424  DistToNext 0.000000
    Speed 3, FLAG 1
     time 179.89   tot 179.89
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir NORTH  loc 3201,-2067  DistToNext 0.000000
    Speed 2, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move STBD_TURN   dir NORTH_EAST  loc 3201,-2067  DistToNext 59.396969
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move FORWARD   dir NORTH_EAST  loc 3243,-2025  DistToNext 0.000000
    Speed 3, FLAG 1
     time 35.64   tot 35.64
   [ 3]     qtv    move STBD_TURN   dir EAST  loc 3243,-2025  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot 35.64
   [ 4]     qtv    move FORWARD   dir EAST  loc 3303,-2025  DistToNext 0.000000
    Speed 5, FLAG 1
     time 21.60   tot 57.24
   [ 5]     qtv    move STBD_TURN   dir SOUTH_EAST  loc 3303,-2025  DistToNext 59.396969
    Speed 0, FLAG 1
     time  0.00   tot 57.24
   [ 6]     qtv    move FORWARD   dir SOUTH_EAST  loc 3345,-2067  DistToNext 0.000000
    Speed 4, FLAG 1
     time 26.73   tot 83.97
   [ 7]     qtv    move STBD_TURN   dir SOUTH  loc 3345,-2067  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot 83.97
   [ 8]     qtv    move FORWARD   dir SOUTH  loc 3345,-2127  DistToNext 0.000000
    Speed 5, FLAG 1
     time 21.60   tot 105.57
   [ 9]     qtv    move STBD_TURN   dir SOUTH_WEST  loc 3345,-2127  DistToNext 59.396969
    Speed 0, FLAG 1
     time  0.00   tot 105.57
   [10]     qtv    move FORWARD   dir SOUTH_WEST  loc 3303,-2169  DistToNext 0.000000
    Speed 3, FLAG 1
     time 35.64   tot 141.20
   [11]     qtv    move STBD_TURN   dir WEST  loc 3303,-2169  DistToNext 42.000000
    Speed 0, FLAG 1
     time  0.00   tot 141.20
   [12]     qtv    move FORWARD   dir WEST  loc 3261,-2169  DistToNext 25.000000
    Speed 2, FLAG 1
     time 37.80   tot 179.00
   [13]     qtv    move FORWARD   dir WEST  loc 3286,-2169  DistToNext 0.000000
    Speed 2, FLAG 2
     time 22.50   tot 201.50
  End Path <===
* ==> Start Path
   [ 0]     qtv    move PORT_TURN   dir SOUTH  loc 1489,1009  DistToNext 50.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir SOUTH  loc 1524,974  DistToNext 0.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
   [ 2]     qtv    move PORT_TURN   dir SOUTH_EAST  loc 1524,974  DistToNext 50.000000
    Speed 0, FLAG 1
     time  0.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move STBD_TURN   dir SOUTH_EAST  loc 1782,-50  DistToNext 50.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir SOUTH_EAST  loc 1817,-85  DistToNext 0.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
   [ 2]     qtv    move PORT_TURN   dir EAST  loc 1817,-85  DistToNext 50.000000
    Speed 0, FLAG 1
     time  0.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move STBD_TURN   dir SOUTH_EAST  loc 3303,-427  DistToNext 59.396969
    Speed 4, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir SOUTH_EAST  loc 3345,-469  DistToNext 0.000000
    Speed 4, FLAG 1
     time 26.73   tot 26.73
   [ 2]     qtv    move STBD_TURN   dir SOUTH  loc 3345,-469  DistToNext 425.000000
    Speed 0, FLAG 1
     time  0.00   tot 26.73
   [ 3]     qtv    move FORWARD   dir SOUTH  loc 3345,-894  DistToNext 49.000000
    Speed 5, FLAG 1
     time 153.00   tot 179.73
   [ 4]     qtv    move FORWARD   dir SOUTH  loc 3345,-943  DistToNext 0.000000
    Speed 5, FLAG 2
     time 17.64   tot 197.37
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir SOUTH  loc 2216,-1360  DistToNext 140.000000
    Speed 2, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir SOUTH  loc 2216,-1500  DistToNext 0.000000
    Speed 2, FLAG 1
     time 126.00   tot 126.00
   [ 2]     qtv    move STBD_TURN   dir SOUTH_WEST  loc 2216,-1500  DistToNext 29.698484
    Speed 0, FLAG 1
     time  0.00   tot 126.00
   [ 3]     qtv    move FORWARD   dir SOUTH_WEST  loc 2195,-1521  DistToNext 9.899495
    Speed 1, FLAG 1
     time 53.46   tot 179.46
   [ 4]     qtv    move FORWARD   dir SOUTH_WEST  loc 2188,-1528  DistToNext 0.000000
    Speed 1, FLAG 2
     time 17.82   tot 197.27
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir WEST  loc 1577,176  DistToNext 0.000000
    Speed 2, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move PORT_TURN   dir SOUTH_WEST  loc 1577,176  DistToNext 0.000000
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move STBD_TURN   dir WEST  loc 1577,176  DistToNext 70.000000
    Speed 2, FLAG 1
     time  0.00   tot  0.00
   [ 3]     qtv    move FORWARD   dir WEST  loc 1507,176  DistToNext 0.000000
    Speed 2, FLAG 1
     time 63.00   tot 63.00
   [ 4]     qtv    move STBD_TURN   dir NORTH_WEST  loc 1507,176  DistToNext 70.710678
    Speed 2, FLAG 1
     time  0.00   tot 63.00
   [ 5]     qtv    move FORWARD   dir NORTH_WEST  loc 1457,226  DistToNext 0.000000
    Speed 2, FLAG 1
     time 63.64   tot 126.64
   [ 6]     qtv    move STBD_TURN   dir NORTH  loc 1457,226  DistToNext 0.000000
    Speed 2, FLAG 1
     time  0.00   tot 126.64
   [ 7]     qtv    move STBD_TURN   dir NORTH_EAST  loc 1457,226  DistToNext 70.710678
    Speed 0, FLAG 1
     time  0.00   tot 126.64
   [ 8]     qtv    move FORWARD   dir NORTH_EAST  loc 1507,276  DistToNext 0.000000
    Speed 4, FLAG 1
     time 31.82   tot 158.46
   [ 9]     qtv    move STBD_TURN   dir EAST  loc 1507,276  DistToNext 71.000000
    Speed 4, FLAG 1
     time  0.00   tot 158.46
   [10]     qtv    move FORWARD   dir EAST  loc 1578,276  DistToNext 0.000000
    Speed 6, FLAG 1
     time 21.30   tot 179.76
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir EAST  loc 1524,198  DistToNext 140.000000
    Speed 4, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir EAST  loc 1664,198  DistToNext 0.000000
    Speed 4, FLAG 1
     time 63.00   tot 63.00
   [ 2]     qtv    move PORT_TURN   dir NORTH_EAST  loc 1664,198  DistToNext 70.710678
    Speed 0, FLAG 1
     time  0.00   tot 63.00
   [ 3]     qtv    move FORWARD   dir NORTH_EAST  loc 1714,248  DistToNext 0.000000
    Speed 2, FLAG 1
     time 63.64   tot 126.64
   [ 4]     qtv    move PORT_TURN   dir NORTH  loc 1714,248  DistToNext 70.000000
    Speed 2, FLAG 1
     time  0.00   tot 126.64
   [ 5]     qtv    move FORWARD   dir NORTH  loc 1714,318  DistToNext 0.000000
    Speed 1, FLAG 1
     time 126.00   tot 252.64
   [ 6]     qtv    move PORT_TURN   dir NORTH_WEST  loc 1714,318  DistToNext 0.000000
    Speed 1, FLAG 1
     time  0.00   tot 252.64
   [ 7]     qtv    move PORT_TURN   dir WEST  loc 1714,318  DistToNext 70.000000
    Speed 0, FLAG 1
     time  0.00   tot 252.64
   [ 8]     qtv    move FORWARD   dir WEST  loc 1644,318  DistToNext 0.000000
    Speed 1, FLAG 1
     time 126.00   tot 378.64
   [ 9]     qtv    move STBD_TURN   dir NORTH_WEST  loc 1644,318  DistToNext -55.177666
    Speed 1, FLAG 1
     time  0.00   tot 378.64
   [10]     qtv    move FORWARD   dir NORTH_WEST  loc 1683,279  DistToNext 0.000000
    Speed -1, FLAG 1
     time -198.64   tot 180.00
   [11]     qtv    move PORT_TURN   dir WEST  loc 1683,279  DistToNext -55.177666
    Speed 0, FLAG 1
     time  0.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move PORT_TURN   dir NORTH_EAST  loc 1630,-29  DistToNext 50.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir NORTH_EAST  loc 1665,-64  DistToNext 0.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
   [ 2]     qtv    move PORT_TURN   dir NORTH  loc 1665,-64  DistToNext 50.000000
    Speed 0, FLAG 1
     time  0.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move STBD_TURN   dir NORTH  loc 2507,287  DistToNext 60.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir NORTH  loc 2507,347  DistToNext 0.000000
    Speed 1, FLAG 1
     time 108.00   tot 108.00
   [ 2]     qtv    move STBD_TURN   dir NORTH_EAST  loc 2507,347  DistToNext 59.396969
    Speed 0, FLAG 1
     time  0.00   tot 108.00
   [ 3]     qtv    move FORWARD   dir NORTH_EAST  loc 2549,389  DistToNext 0.000000
    Speed 3, FLAG 1
     time 35.64   tot 143.64
   [ 4]     qtv    move STBD_TURN   dir EAST  loc 2549,389  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot 143.64
   [ 5]     qtv    move FORWARD   dir EAST  loc 2609,389  DistToNext 0.000000
    Speed 5, FLAG 1
     time 21.60   tot 165.24
   [ 6]     qtv    move STBD_TURN   dir SOUTH_EAST  loc 2609,389  DistToNext 31.112698
    Speed 0, FLAG 1
     time  0.00   tot 165.24
   [ 7]     qtv    move FORWARD   dir SOUTH_EAST  loc 2631,367  DistToNext 4.242640
    Speed 4, FLAG 1
     time 14.00   tot 179.24
   [ 8]     qtv    move FORWARD   dir SOUTH_EAST  loc 2628,370  DistToNext 0.000000
    Speed 4, FLAG 2
     time  1.91   tot 181.15
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir SOUTH_EAST  loc 2917,393  DistToNext 0.000000
    Speed 3, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move PORT_TURN   dir EAST  loc 2917,393  DistToNext 140.000000
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move FORWARD   dir EAST  loc 3057,393  DistToNext 0.000000
    Speed 3, FLAG 1
     time 84.00   tot 84.00
   [ 3]     qtv    move PORT_TURN   dir NORTH_EAST  loc 3057,393  DistToNext 70.710678
    Speed 0, FLAG 1
     time  0.00   tot 84.00
   [ 4]     qtv    move FORWARD   dir NORTH_EAST  loc 3107,443  DistToNext 0.000000
    Speed 2, FLAG 1
     time 63.64   tot 147.64
   [ 5]     qtv    move PORT_TURN   dir NORTH  loc 3107,443  DistToNext 70.000000
    Speed 2, FLAG 1
     time  0.00   tot 147.64
   [ 6]     qtv    move FORWARD   dir NORTH  loc 3107,513  DistToNext 0.000000
    Speed 1, FLAG 1
     time 126.00   tot 273.64
   [ 7]     qtv    move PORT_TURN   dir NORTH_WEST  loc 3107,513  DistToNext 0.000000
    Speed 1, FLAG 1
     time  0.00   tot 273.64
   [ 8]     qtv    move PORT_TURN   dir WEST  loc 3107,513  DistToNext 70.000000
    Speed 0, FLAG 1
     time  0.00   tot 273.64
   [ 9]     qtv    move FORWARD   dir WEST  loc 3037,513  DistToNext 0.000000
    Speed 1, FLAG 1
     time 126.00   tot 399.64
   [10]     qtv    move STBD_TURN   dir NORTH_WEST  loc 3037,513  DistToNext -61.010998
    Speed 1, FLAG 1
     time  0.00   tot 399.64
   [11]     qtv    move FORWARD   dir NORTH_WEST  loc 3080,470  DistToNext 0.000000
    Speed -1, FLAG 1
     time -219.64   tot 180.00
   [12]     qtv    move STBD_TURN   dir NORTH  loc 3080,470  DistToNext -61.010998
    Speed 0, FLAG 1
     time  0.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move STBD_TURN   dir WEST  loc 1252,74  DistToNext 60.000000
    Speed 2, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir WEST  loc 1192,74  DistToNext 0.000000
    Speed 2, FLAG 1
     time 54.00   tot 54.00
   [ 2]     qtv    move PORT_TURN   dir SOUTH_WEST  loc 1192,74  DistToNext 59.396969
    Speed 0, FLAG 1
     time  0.00   tot 54.00
   [ 3]     qtv    move FORWARD   dir SOUTH_WEST  loc 1150,32  DistToNext 0.000000
    Speed 4, FLAG 1
     time 26.73   tot 80.73
   [ 4]     qtv    move PORT_TURN   dir SOUTH  loc 1150,32  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot 80.73
   [ 5]     qtv    move FORWARD   dir SOUTH  loc 1150,-28  DistToNext 0.000000
    Speed 6, FLAG 1
     time 18.00   tot 98.73
   [ 6]     qtv    move PORT_TURN   dir SOUTH_EAST  loc 1150,-28  DistToNext 59.396969
    Speed 0, FLAG 1
     time  0.00   tot 98.73
   [ 7]     qtv    move FORWARD   dir SOUTH_EAST  loc 1192,-70  DistToNext 0.000000
    Speed 5, FLAG 1
     time 21.38   tot 120.11
   [ 8]     qtv    move PORT_TURN   dir EAST  loc 1192,-70  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot 120.11
   [ 9]     qtv    move FORWARD   dir EAST  loc 1252,-70  DistToNext 0.000000
    Speed 6, FLAG 1
     time 18.00   tot 138.11
   [10]     qtv    move PORT_TURN   dir NORTH_EAST  loc 1252,-70  DistToNext 91.923882
    Speed 0, FLAG 1
     time  0.00   tot 138.11
   [11]     qtv    move FORWARD   dir NORTH_EAST  loc 1317,-5  DistToNext 0.000000
    Speed 4, FLAG 1
     time 41.37   tot 179.48
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir SOUTH_EAST  loc 2391,433  DistToNext 0.000000
    Speed 3, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move PORT_TURN   dir EAST  loc 2391,433  DistToNext 120.000000
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move FORWARD   dir EAST  loc 2511,433  DistToNext 0.000000
    Speed 4, FLAG 1
     time 54.00   tot 54.00
   [ 3]     qtv    move PORT_TURN   dir NORTH_EAST  loc 2511,433  DistToNext 60.811184
    Speed 0, FLAG 1
     time  0.00   tot 54.00
   [ 4]     qtv    move FORWARD   dir NORTH_EAST  loc 2554,476  DistToNext 0.000000
    Speed 2, FLAG 1
     time 54.73   tot 108.73
   [ 5]     qtv    move PORT_TURN   dir NORTH  loc 2554,476  DistToNext 60.000000
    Speed 2, FLAG 1
     time  0.00   tot 108.73
   [ 6]     qtv    move FORWARD   dir NORTH  loc 2554,536  DistToNext 0.000000
    Speed 1, FLAG 1
     time 108.00   tot 216.73
   [ 7]     qtv    move PORT_TURN   dir NORTH_WEST  loc 2554,536  DistToNext 0.000000
    Speed 1, FLAG 1
     time  0.00   tot 216.73
   [ 8]     qtv    move PORT_TURN   dir WEST  loc 2554,536  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot 216.73
   [ 9]     qtv    move FORWARD   dir WEST  loc 2494,536  DistToNext 0.000000
    Speed 1, FLAG 1
     time 108.00   tot 324.73
   [10]     qtv    move STBD_TURN   dir NORTH_WEST  loc 2494,536  DistToNext -40.202789
    Speed 1, FLAG 1
     time  0.00   tot 324.73
   [11]     qtv    move FORWARD   dir NORTH_WEST  loc 2522,508  DistToNext -40.202789
    Speed -1, FLAG 1
     time -144.73   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir EAST  loc 1578,122  DistToNext 120.000000
    Speed 5, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir EAST  loc 1698,122  DistToNext 0.000000
    Speed 5, FLAG 1
     time 43.20   tot 43.20
   [ 2]     qtv    move PORT_TURN   dir NORTH_EAST  loc 1698,122  DistToNext 60.811184
    Speed 0, FLAG 1
     time  0.00   tot 43.20
   [ 3]     qtv    move FORWARD   dir NORTH_EAST  loc 1741,165  DistToNext 0.000000
    Speed 3, FLAG 1
     time 36.49   tot 79.69
   [ 4]     qtv    move PORT_TURN   dir NORTH  loc 1741,165  DistToNext 60.000000
    Speed 3, FLAG 1
     time  0.00   tot 79.69
   [ 5]     qtv    move FORWARD   dir NORTH  loc 1741,225  DistToNext 0.000000
    Speed 1, FLAG 1
     time 108.00   tot 187.69
   [ 6]     qtv    move PORT_TURN   dir NORTH_WEST  loc 1741,225  DistToNext 0.000000
    Speed 1, FLAG 1
     time  0.00   tot 187.69
   [ 7]     qtv    move PORT_TURN   dir WEST  loc 1741,225  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot 187.69
   [ 8]     qtv    move FORWARD   dir WEST  loc 1681,225  DistToNext 0.000000
    Speed 1, FLAG 1
     time 108.00   tot 295.68
   [ 9]     qtv    move STBD_TURN   dir NORTH_WEST  loc 1681,225  DistToNext -32.135197
    Speed 1, FLAG 1
     time  0.00   tot 295.68
   [10]     qtv    move FORWARD   dir NORTH_WEST  loc 1703,203  DistToNext 0.000000
    Speed -1, FLAG 1
     time -115.69   tot 180.00
   [11]     qtv    move PORT_TURN   dir WEST  loc 1703,203  DistToNext -32.135197
    Speed 0, FLAG 1
     time  0.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir SOUTH_EAST  loc 2318,832  DistToNext 199.404114
    Speed 2, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir SOUTH_EAST  loc 2459,691  DistToNext 0.000000
    Speed 2, FLAG 1
     time 179.46   tot 179.46
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir WEST  loc 1554,466  DistToNext 0.000000
    Speed 2, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move PORT_TURN   dir SOUTH_WEST  loc 1554,466  DistToNext 0.000000
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move STBD_TURN   dir WEST  loc 1554,466  DistToNext 60.000000
    Speed 2, FLAG 1
     time  0.00   tot  0.00
   [ 3]     qtv    move FORWARD   dir WEST  loc 1494,466  DistToNext 0.000000
    Speed 2, FLAG 1
     time 54.00   tot 54.00
   [ 4]     qtv    move STBD_TURN   dir NORTH_WEST  loc 1494,466  DistToNext 60.811184
    Speed 2, FLAG 1
     time  0.00   tot 54.00
   [ 5]     qtv    move FORWARD   dir NORTH_WEST  loc 1451,509  DistToNext 0.000000
    Speed 2, FLAG 1
     time 54.73   tot 108.73
   [ 6]     qtv    move STBD_TURN   dir NORTH  loc 1451,509  DistToNext 0.000000
    Speed 2, FLAG 1
     time  0.00   tot 108.73
   [ 7]     qtv    move STBD_TURN   dir NORTH_EAST  loc 1451,509  DistToNext 60.811184
    Speed 0, FLAG 1
     time  0.00   tot 108.73
   [ 8]     qtv    move FORWARD   dir NORTH_EAST  loc 1494,552  DistToNext 0.000000
    Speed 3, FLAG 1
     time 36.49   tot 145.22
   [ 9]     qtv    move STBD_TURN   dir EAST  loc 1494,552  DistToNext 96.000000
    Speed 3, FLAG 1
     time  0.00   tot 145.22
   [10]     qtv    move FORWARD   dir EAST  loc 1590,552  DistToNext 0.000000
    Speed 5, FLAG 1
     time 34.56   tot 179.78
  End Path <===
* ==> Start Path
   [ 0]     qtv    move STBD_TURN   dir SOUTH  loc 643,787  DistToNext 50.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir SOUTH  loc 678,752  DistToNext 50.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move STBD_TURN   dir EAST  loc 1440,966  DistToNext 50.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir EAST  loc 1475,931  DistToNext 0.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
   [ 2]     qtv    move PORT_TURN   dir NORTH_EAST  loc 1475,931  DistToNext 50.000000
    Speed 0, FLAG 1
     time  0.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir WEST  loc 3090,-2057  DistToNext 0.000000
    Speed 2, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move PORT_TURN   dir SOUTH_WEST  loc 3090,-2057  DistToNext 59.396969
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move FORWARD   dir SOUTH_WEST  loc 3048,-2099  DistToNext 0.000000
    Speed 3, FLAG 1
     time 35.64   tot 35.64
   [ 3]     qtv    move PORT_TURN   dir SOUTH  loc 3048,-2099  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot 35.64
   [ 4]     qtv    move FORWARD   dir SOUTH  loc 3048,-2159  DistToNext 0.000000
    Speed 5, FLAG 1
     time 21.60   tot 57.24
   [ 5]     qtv    move PORT_TURN   dir SOUTH_EAST  loc 3048,-2159  DistToNext 59.396969
    Speed 0, FLAG 1
     time  0.00   tot 57.24
   [ 6]     qtv    move FORWARD   dir SOUTH_EAST  loc 3090,-2201  DistToNext 0.000000
    Speed 4, FLAG 1
     time 26.73   tot 83.97
   [ 7]     qtv    move PORT_TURN   dir EAST  loc 3090,-2201  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot 83.97
   [ 8]     qtv    move FORWARD   dir EAST  loc 3150,-2201  DistToNext 0.000000
    Speed 5, FLAG 1
     time 21.60   tot 105.57
   [ 9]     qtv    move PORT_TURN   dir NORTH_EAST  loc 3150,-2201  DistToNext 59.396969
    Speed 0, FLAG 1
     time  0.00   tot 105.57
   [10]     qtv    move FORWARD   dir NORTH_EAST  loc 3192,-2159  DistToNext 0.000000
    Speed 3, FLAG 1
     time 35.64   tot 141.20
   [11]     qtv    move PORT_TURN   dir NORTH  loc 3192,-2159  DistToNext 42.000000
    Speed 0, FLAG 1
     time  0.00   tot 141.20
   [12]     qtv    move FORWARD   dir NORTH  loc 3192,-2117  DistToNext 25.000000
    Speed 2, FLAG 1
     time 37.80   tot 179.00
   [13]     qtv    move FORWARD   dir NORTH  loc 3192,-2142  DistToNext 0.000000
    Speed 2, FLAG 2
     time 22.50   tot 201.50
  End Path <===
* ==> Start Path
   [ 0]     qtv    move PORT_TURN   dir NORTH  loc 1828,288  DistToNext 50.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir NORTH  loc 1863,253  DistToNext 50.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move PORT_TURN   dir NORTH  loc 1944,361  DistToNext 50.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir NORTH  loc 1979,326  DistToNext 0.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
   [ 2]     qtv    move STBD_TURN   dir NORTH_EAST  loc 1979,326  DistToNext 50.000000
    Speed 0, FLAG 1
     time  0.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move STBD_TURN   dir WEST  loc 1874,-310  DistToNext 50.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir WEST  loc 1909,-345  DistToNext 0.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
   [ 2]     qtv    move PORT_TURN   dir SOUTH_WEST  loc 1909,-345  DistToNext 50.000000
    Speed 0, FLAG 1
     time  0.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir NORTH_EAST  loc 1578,215  DistToNext 50.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir NORTH_EAST  loc 1613,180  DistToNext 50.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir NORTH_EAST  loc 1994,-1424  DistToNext 0.000000
    Speed 2, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move STBD_TURN   dir EAST  loc 1994,-1424  DistToNext 400.000000
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move FORWARD   dir EAST  loc 2394,-1424  DistToNext 0.000000
    Speed 4, FLAG 1
     time 180.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir WEST  loc 3261,-2169  DistToNext 0.000000
    Speed 2, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move PORT_TURN   dir SOUTH_WEST  loc 3261,-2169  DistToNext 59.396969
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move FORWARD   dir SOUTH_WEST  loc 3219,-2211  DistToNext 0.000000
    Speed 3, FLAG 1
     time 35.64   tot 35.64
   [ 3]     qtv    move PORT_TURN   dir SOUTH  loc 3219,-2211  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot 35.64
   [ 4]     qtv    move FORWARD   dir SOUTH  loc 3219,-2271  DistToNext 0.000000
    Speed 5, FLAG 1
     time 21.60   tot 57.24
   [ 5]     qtv    move PORT_TURN   dir SOUTH_EAST  loc 3219,-2271  DistToNext 59.396969
    Speed 0, FLAG 1
     time  0.00   tot 57.24
   [ 6]     qtv    move FORWARD   dir SOUTH_EAST  loc 3261,-2313  DistToNext 0.000000
    Speed 4, FLAG 1
     time 26.73   tot 83.97
   [ 7]     qtv    move PORT_TURN   dir EAST  loc 3261,-2313  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot 83.97
   [ 8]     qtv    move FORWARD   dir EAST  loc 3321,-2313  DistToNext 0.000000
    Speed 5, FLAG 1
     time 21.60   tot 105.57
   [ 9]     qtv    move PORT_TURN   dir NORTH_EAST  loc 3321,-2313  DistToNext 59.396969
    Speed 0, FLAG 1
     time  0.00   tot 105.57
   [10]     qtv    move FORWARD   dir NORTH_EAST  loc 3363,-2271  DistToNext 0.000000
    Speed 3, FLAG 1
     time 35.64   tot 141.20
   [11]     qtv    move PORT_TURN   dir NORTH  loc 3363,-2271  DistToNext 42.000000
    Speed 0, FLAG 1
     time  0.00   tot 141.20
   [12]     qtv    move FORWARD   dir NORTH  loc 3363,-2229  DistToNext 25.000000
    Speed 2, FLAG 1
     time 37.80   tot 179.00
   [13]     qtv    move FORWARD   dir NORTH  loc 3363,-2254  DistToNext 0.000000
    Speed 2, FLAG 2
     time 22.50   tot 201.50
  End Path <===
* ==> Start Path
   [ 0]     qtv    move PORT_TURN   dir SOUTH_EAST  loc 1524,974  DistToNext 50.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir SOUTH_EAST  loc 1559,939  DistToNext 50.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move PORT_TURN   dir EAST  loc 1817,-85  DistToNext 50.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir EAST  loc 1852,-120  DistToNext 0.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
   [ 2]     qtv    move STBD_TURN   dir SOUTH_EAST  loc 1852,-120  DistToNext 50.000000
    Speed 0, FLAG 1
     time  0.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move STBD_TURN   dir SOUTH  loc 3345,-894  DistToNext 60.000000
    Speed 5, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir SOUTH  loc 3345,-954  DistToNext 0.000000
    Speed 5, FLAG 1
     time 21.60   tot 21.60
   [ 2]     qtv    move STBD_TURN   dir SOUTH_WEST  loc 3345,-954  DistToNext 59.396969
    Speed 0, FLAG 1
     time  0.00   tot 21.60
   [ 3]     qtv    move FORWARD   dir SOUTH_WEST  loc 3303,-996  DistToNext 0.000000
    Speed 3, FLAG 1
     time 35.64   tot 57.24
   [ 4]     qtv    move STBD_TURN   dir WEST  loc 3303,-996  DistToNext 68.000000
    Speed 0, FLAG 1
     time  0.00   tot 57.24
   [ 5]     qtv    move FORWARD   dir WEST  loc 3235,-996  DistToNext 0.000000
    Speed 1, FLAG 1
     time 122.40   tot 179.64
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir SOUTH  loc 2233,-1473  DistToNext 50.000000
    Speed 2, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir SOUTH  loc 2268,-1508  DistToNext 50.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir WEST  loc 1611,142  DistToNext 0.000000
    Speed 2, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move PORT_TURN   dir SOUTH_WEST  loc 1611,142  DistToNext 0.000000
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move STBD_TURN   dir WEST  loc 1611,142  DistToNext 70.000000
    Speed 2, FLAG 1
     time  0.00   tot  0.00
   [ 3]     qtv    move FORWARD   dir WEST  loc 1541,142  DistToNext 0.000000
    Speed 2, FLAG 1
     time 63.00   tot 63.00
   [ 4]     qtv    move STBD_TURN   dir NORTH_WEST  loc 1541,142  DistToNext 70.710678
    Speed 2, FLAG 1
     time  0.00   tot 63.00
   [ 5]     qtv    move FORWARD   dir NORTH_WEST  loc 1491,192  DistToNext 0.000000
    Speed 2, FLAG 1
     time 63.64   tot 126.64
   [ 6]     qtv    move STBD_TURN   dir NORTH  loc 1491,192  DistToNext 0.000000
    Speed 2, FLAG 1
     time  0.00   tot 126.64
   [ 7]     qtv    move STBD_TURN   dir NORTH_EAST  loc 1491,192  DistToNext 70.710678
    Speed 0, FLAG 1
     time  0.00   tot 126.64
   [ 8]     qtv    move FORWARD   dir NORTH_EAST  loc 1541,242  DistToNext 0.000000
    Speed 4, FLAG 1
     time 31.82   tot 158.46
   [ 9]     qtv    move PORT_TURN   dir NORTH  loc 1541,242  DistToNext 23.000000
    Speed 4, FLAG 1
     time  0.00   tot 158.46
   [10]     qtv    move FORWARD   dir NORTH  loc 1541,265  DistToNext 23.000000
    Speed 2, FLAG 1
     time 20.70   tot 179.16
   [11]     qtv    move FORWARD   dir NORTH  loc 1541,288  DistToNext 0.000000
    Speed 2, FLAG 2
     time 20.70   tot 199.86
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir EAST  loc 1468,254  DistToNext 0.000000
    Speed 4, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move BACK_SAIL   dir SOUTH_EAST  loc 1468,254  DistToNext 299.813263
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move STBD_TURN   dir SOUTH_EAST  loc 1468,254  DistToNext 148.492432
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 3]     qtv    move FORWARD   dir SOUTH_EAST  loc 1573,149  DistToNext 0.000000
    Speed 3, FLAG 1
     time 89.09   tot 89.09
   [ 4]     qtv    move NO_DIRECTION   dir SOUTH_EAST  loc 1573,149  DistToNext 299.813263
    Speed 0, FLAG 1
     time  0.00   tot 89.09
  End Path <===
* ==> Start Path
   [ 0]     qtv    move PORT_TURN   dir NORTH  loc 1665,-64  DistToNext 50.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir NORTH  loc 1700,-99  DistToNext 50.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move STBD_TURN   dir SOUTH_EAST  loc 2631,367  DistToNext 59.396969
    Speed 4, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir SOUTH_EAST  loc 2673,325  DistToNext 0.000000
    Speed 4, FLAG 1
     time 26.73   tot 26.73
   [ 2]     qtv    move PORT_TURN   dir EAST  loc 2673,325  DistToNext 425.000000
    Speed 0, FLAG 1
     time  0.00   tot 26.73
   [ 3]     qtv    move FORWARD   dir EAST  loc 3098,325  DistToNext 0.000000
    Speed 5, FLAG 1
     time 153.00   tot 179.73
  End Path <===
* ==> Start Path
   [ 0]     qtv    move STBD_TURN   dir NORTH  loc 3080,470  DistToNext 70.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir NORTH  loc 3080,540  DistToNext 0.000000
    Speed 1, FLAG 1
     time 126.00   tot 126.00
   [ 2]     qtv    move STBD_TURN   dir NORTH_EAST  loc 3080,540  DistToNext 59.396969
    Speed 0, FLAG 1
     time  0.00   tot 126.00
   [ 3]     qtv    move FORWARD   dir NORTH_EAST  loc 3122,582  DistToNext 49.497475
    Speed 2, FLAG 1
     time 53.46   tot 179.46
   [ 4]     qtv    move FORWARD   dir NORTH_EAST  loc 3087,547  DistToNext 0.000000
    Speed 2, FLAG 2
     time 44.55   tot 224.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir NORTH_EAST  loc 1317,-5  DistToNext 0.000000
    Speed 4, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move STBD_TURN   dir EAST  loc 1317,-5  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move FORWARD   dir EAST  loc 1377,-5  DistToNext 0.000000
    Speed 6, FLAG 1
     time 18.00   tot 18.00
   [ 3]     qtv    move STBD_TURN   dir SOUTH_EAST  loc 1377,-5  DistToNext 449.719910
    Speed 0, FLAG 1
     time  0.00   tot 18.00
   [ 4]     qtv    move FORWARD   dir SOUTH_EAST  loc 1695,-323  DistToNext 0.000000
    Speed 5, FLAG 1
     time 161.90   tot 179.90
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir NORTH  loc 2522,508  DistToNext 0.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move STBD_TURN   dir NORTH_EAST  loc 2522,508  DistToNext 59.396969
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move FORWARD   dir NORTH_EAST  loc 2564,550  DistToNext 0.000000
    Speed 2, FLAG 1
     time 53.46   tot 53.46
   [ 3]     qtv    move STBD_TURN   dir EAST  loc 2564,550  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot 53.46
   [ 4]     qtv    move FORWARD   dir EAST  loc 2624,550  DistToNext 0.000000
    Speed 4, FLAG 1
     time 27.00   tot 80.46
   [ 5]     qtv    move STBD_TURN   dir SOUTH_EAST  loc 2624,550  DistToNext 118.793938
    Speed 0, FLAG 1
     time  0.00   tot 80.46
   [ 6]     qtv    move FORWARD   dir SOUTH_EAST  loc 2708,466  DistToNext 0.000000
    Speed 3, FLAG 1
     time 71.28   tot 151.73
   [ 7]     qtv    move STBD_TURN   dir SOUTH  loc 2708,466  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot 151.73
   [ 8]     qtv    move FORWARD   dir SOUTH  loc 2708,406  DistToNext 0.000000
    Speed 4, FLAG 1
     time 27.00   tot 178.73
  End Path <===
* ==> Start Path
   [ 0]     qtv    move PORT_TURN   dir NORTH  loc 1703,203  DistToNext 60.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir NORTH  loc 1703,263  DistToNext 0.000000
    Speed 1, FLAG 1
     time 108.00   tot 108.00
   [ 2]     qtv    move STBD_TURN   dir NORTH_EAST  loc 1703,263  DistToNext 59.396969
    Speed 0, FLAG 1
     time  0.00   tot 108.00
   [ 3]     qtv    move FORWARD   dir NORTH_EAST  loc 1745,305  DistToNext 0.000000
    Speed 3, FLAG 1
     time 35.64   tot 143.64
   [ 4]     qtv    move STBD_TURN   dir EAST  loc 1745,305  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot 143.64
   [ 5]     qtv    move FORWARD   dir EAST  loc 1805,305  DistToNext 0.000000
    Speed 5, FLAG 1
     time 21.60   tot 165.24
   [ 6]     qtv    move STBD_TURN   dir SOUTH_EAST  loc 1805,305  DistToNext 31.112698
    Speed 0, FLAG 1
     time  0.00   tot 165.24
   [ 7]     qtv    move FORWARD   dir SOUTH_EAST  loc 1827,283  DistToNext 4.242640
    Speed 4, FLAG 1
     time 14.00   tot 179.24
   [ 8]     qtv    move FORWARD   dir SOUTH_EAST  loc 1824,286  DistToNext 0.000000
    Speed 4, FLAG 2
     time  1.91   tot 181.15
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir SOUTH_EAST  loc 2459,691  DistToNext 0.000000
    Speed 2, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move PORT_TURN   dir EAST  loc 2459,691  DistToNext 120.000000
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move FORWARD   dir EAST  loc 2579,691  DistToNext 0.000000
    Speed 3, FLAG 1
     time 72.00   tot 72.00
   [ 3]     qtv    move PORT_TURN   dir NORTH_EAST  loc 2579,691  DistToNext 60.811184
    Speed 0, FLAG 1
     time  0.00   tot 72.00
   [ 4]     qtv    move FORWARD   dir NORTH_EAST  loc 2622,734  DistToNext 0.000000
    Speed 1, FLAG 1
     time 109.46   tot 181.46
   [ 5]     qtv    move PORT_TURN   dir NORTH  loc 2622,734  DistToNext 60.000000
    Speed 1, FLAG 1
     time  0.00   tot 181.46
   [ 6]     qtv    move FORWARD   dir NORTH  loc 2622,794  DistToNext 0.000000
    Speed 1, FLAG 1
     time 108.00   tot 289.46
   [ 7]     qtv    move PORT_TURN   dir NORTH_WEST  loc 2622,794  DistToNext 0.000000
    Speed 1, FLAG 1
     time  0.00   tot 289.46
   [ 8]     qtv    move PORT_TURN   dir WEST  loc 2622,794  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot 289.46
   [ 9]     qtv    move FORWARD   dir WEST  loc 2562,794  DistToNext 0.000000
    Speed 1, FLAG 1
     time 108.00   tot 397.46
   [10]     qtv    move STBD_TURN   dir NORTH_WEST  loc 2562,794  DistToNext -60.405586
    Speed 1, FLAG 1
     time  0.00   tot 397.46
   [11]     qtv    move FORWARD   dir NORTH_WEST  loc 2604,752  DistToNext 0.000000
    Speed -1, FLAG 1
     time -217.46   tot 180.00
   [12]     qtv    move STBD_TURN   dir NORTH  loc 2604,752  DistToNext -60.405586
    Speed 0, FLAG 1
     time  0.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir EAST  loc 1590,552  DistToNext 0.000000
    Speed 5, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move STBD_TURN   dir SOUTH_EAST  loc 1590,552  DistToNext 398.808228
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move FORWARD   dir SOUTH_EAST  loc 1872,270  DistToNext 0.000000
    Speed 4, FLAG 1
     time 179.46   tot 179.46
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir SOUTH  loc 678,752  DistToNext 50.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir SOUTH  loc 713,717  DistToNext 0.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
   [ 2]     qtv    move PORT_TURN   dir SOUTH_EAST  loc 713,717  DistToNext 50.000000
    Speed 0, FLAG 1
     time  0.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move PORT_TURN   dir NORTH_EAST  loc 1475,931  DistToNext 50.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir NORTH_EAST  loc 1510,896  DistToNext 0.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
   [ 2]     qtv    move STBD_TURN   dir EAST  loc 1510,896  DistToNext 50.000000
    Speed 0, FLAG 1
     time  0.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir NORTH  loc 3192,-2117  DistToNext 200.000000
    Speed 2, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir NORTH  loc 3192,-1917  DistToNext 0.000000
    Speed 2, FLAG 1
     time 180.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir NORTH  loc 1863,253  DistToNext 50.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir NORTH  loc 1898,218  DistToNext 50.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move STBD_TURN   dir NORTH_EAST  loc 1979,326  DistToNext 50.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir NORTH_EAST  loc 2014,291  DistToNext 0.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
   [ 2]     qtv    move STBD_TURN   dir EAST  loc 2014,291  DistToNext 50.000000
    Speed 0, FLAG 1
     time  0.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move PORT_TURN   dir SOUTH_WEST  loc 1909,-345  DistToNext 50.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir SOUTH_WEST  loc 1944,-380  DistToNext 0.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
   [ 2]     qtv    move PORT_TURN   dir SOUTH  loc 1944,-380  DistToNext 50.000000
    Speed 0, FLAG 1
     time  0.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir NORTH_EAST  loc 1612,271  DistToNext 50.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir NORTH_EAST  loc 1647,236  DistToNext 0.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
   [ 2]     qtv    move STBD_TURN   dir EAST  loc 1647,236  DistToNext 50.000000
    Speed 0, FLAG 1
     time  0.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir EAST  loc 2200,-1442  DistToNext 50.000000
    Speed 3, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir EAST  loc 2235,-1477  DistToNext 50.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir NORTH  loc 3363,-2229  DistToNext 200.000000
    Speed 2, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir NORTH  loc 3363,-2029  DistToNext 0.000000
    Speed 2, FLAG 1
     time 180.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir SOUTH_EAST  loc 1559,939  DistToNext 50.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir SOUTH_EAST  loc 1594,904  DistToNext 0.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
   [ 2]     qtv    move STBD_TURN   dir SOUTH  loc 1594,904  DistToNext 50.000000
    Speed 0, FLAG 1
     time  0.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move STBD_TURN   dir SOUTH_EAST  loc 1852,-120  DistToNext 50.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir SOUTH_EAST  loc 1887,-155  DistToNext 0.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
   [ 2]     qtv    move PORT_TURN   dir EAST  loc 1887,-155  DistToNext 50.000000
    Speed 0, FLAG 1
     time  0.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir WEST  loc 3235,-996  DistToNext 0.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move PORT_TURN   dir SOUTH_WEST  loc 3235,-996  DistToNext 59.396969
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move FORWARD   dir SOUTH_WEST  loc 3193,-1038  DistToNext 0.000000
    Speed 3, FLAG 1
     time 35.64   tot 35.64
   [ 3]     qtv    move PORT_TURN   dir SOUTH  loc 3193,-1038  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot 35.64
   [ 4]     qtv    move FORWARD   dir SOUTH  loc 3193,-1098  DistToNext 0.000000
    Speed 5, FLAG 1
     time 21.60   tot 57.24
   [ 5]     qtv    move PORT_TURN   dir SOUTH_EAST  loc 3193,-1098  DistToNext 59.396969
    Speed 0, FLAG 1
     time  0.00   tot 57.24
   [ 6]     qtv    move FORWARD   dir SOUTH_EAST  loc 3235,-1140  DistToNext 0.000000
    Speed 4, FLAG 1
     time 26.73   tot 83.97
   [ 7]     qtv    move PORT_TURN   dir EAST  loc 3235,-1140  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot 83.97
   [ 8]     qtv    move FORWARD   dir EAST  loc 3295,-1140  DistToNext 0.000000
    Speed 5, FLAG 1
     time 21.60   tot 105.57
   [ 9]     qtv    move PORT_TURN   dir NORTH_EAST  loc 3295,-1140  DistToNext 59.396969
    Speed 0, FLAG 1
     time  0.00   tot 105.57
   [10]     qtv    move FORWARD   dir NORTH_EAST  loc 3337,-1098  DistToNext 0.000000
    Speed 3, FLAG 1
     time 35.64   tot 141.20
   [11]     qtv    move PORT_TURN   dir NORTH  loc 3337,-1098  DistToNext 21.000000
    Speed 0, FLAG 1
     time  0.00   tot 141.20
   [12]     qtv    move FORWARD   dir NORTH  loc 3337,-1077  DistToNext 17.000000
    Speed 1, FLAG 1
     time 37.80   tot 179.00
   [13]     qtv    move FORWARD   dir NORTH  loc 3337,-1060  DistToNext 0.000000
    Speed 1, FLAG 2
     time 30.60   tot 209.60
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir SOUTH  loc 2267,-1507  DistToNext 0.000000
    Speed 2, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move PORT_TURN   dir SOUTH_EAST  loc 2267,-1507  DistToNext 138.592926
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move FORWARD   dir SOUTH_EAST  loc 2365,-1605  DistToNext 0.000000
    Speed 2, FLAG 1
     time 124.73   tot 124.73
   [ 3]     qtv    move STBD_TURN   dir SOUTH  loc 2365,-1605  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot 124.73
   [ 4]     qtv    move FORWARD   dir SOUTH  loc 2365,-1665  DistToNext 51.000000
    Speed 2, FLAG 1
     time 54.00   tot 178.73
   [ 5]     qtv    move FORWARD   dir SOUTH  loc 2365,-1614  DistToNext 0.000000
    Speed 2, FLAG 2
     time 45.90   tot 224.63
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir NORTH  loc 1541,265  DistToNext 0.000000
    Speed 2, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move STBD_TURN   dir NORTH_EAST  loc 1541,265  DistToNext 69.296463
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move FORWARD   dir NORTH_EAST  loc 1590,314  DistToNext 0.000000
    Speed 4, FLAG 1
     time 31.18   tot 31.18
   [ 3]     qtv    move STBD_TURN   dir EAST  loc 1590,314  DistToNext 70.000000
    Speed 0, FLAG 1
     time  0.00   tot 31.18
   [ 4]     qtv    move FORWARD   dir EAST  loc 1660,314  DistToNext 0.000000
    Speed 6, FLAG 1
     time 21.00   tot 52.18
   [ 5]     qtv    move STBD_TURN   dir SOUTH_EAST  loc 1660,314  DistToNext 138.592926
    Speed 0, FLAG 1
     time  0.00   tot 52.18
   [ 6]     qtv    move FORWARD   dir SOUTH_EAST  loc 1758,216  DistToNext 0.000000
    Speed 5, FLAG 1
     time 49.89   tot 102.08
   [ 7]     qtv    move STBD_TURN   dir SOUTH  loc 1758,216  DistToNext 140.000000
    Speed 0, FLAG 1
     time  0.00   tot 102.08
   [ 8]     qtv    move FORWARD   dir SOUTH  loc 1758,76  DistToNext 0.000000
    Speed 6, FLAG 1
     time 42.00   tot 144.08
   [ 9]     qtv    move STBD_TURN   dir SOUTH_WEST  loc 1758,76  DistToNext 77.781746
    Speed 0, FLAG 1
     time  0.00   tot 144.08
   [10]     qtv    move FORWARD   dir SOUTH_WEST  loc 1703,21  DistToNext 0.000000
    Speed 4, FLAG 1
     time 35.00   tot 179.08
  End Path <===
* ==> Start Path
   [ 0]     qtv    move NO_DIRECTION   dir SOUTH_EAST  loc 1573,149  DistToNext 69.296463
    Speed 3, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir SOUTH_EAST  loc 1622,100  DistToNext 0.000000
    Speed 3, FLAG 1
     time 41.58   tot 41.58
   [ 2]     qtv    move PORT_TURN   dir EAST  loc 1622,100  DistToNext 140.000000
    Speed 0, FLAG 1
     time  0.00   tot 41.58
   [ 3]     qtv    move FORWARD   dir EAST  loc 1762,100  DistToNext 0.000000
    Speed 4, FLAG 1
     time 63.00   tot 104.58
   [ 4]     qtv    move PORT_TURN   dir NORTH_EAST  loc 1762,100  DistToNext 70.710678
    Speed 0, FLAG 1
     time  0.00   tot 104.58
   [ 5]     qtv    move FORWARD   dir NORTH_EAST  loc 1812,150  DistToNext 0.000000
    Speed 2, FLAG 1
     time 63.64   tot 168.22
   [ 6]     qtv    move PORT_TURN   dir NORTH  loc 1812,150  DistToNext 70.000000
    Speed 2, FLAG 1
     time  0.00   tot 168.22
   [ 7]     qtv    move FORWARD   dir NORTH  loc 1812,220  DistToNext 0.000000
    Speed 1, FLAG 1
     time 126.00   tot 294.22
   [ 8]     qtv    move PORT_TURN   dir NORTH_WEST  loc 1812,220  DistToNext 0.000000
    Speed 1, FLAG 1
     time  0.00   tot 294.22
   [ 9]     qtv    move PORT_TURN   dir WEST  loc 1812,220  DistToNext 70.000000
    Speed 0, FLAG 1
     time  0.00   tot 294.22
   [10]     qtv    move FORWARD   dir WEST  loc 1742,220  DistToNext 0.000000
    Speed 1, FLAG 1
     time 126.00   tot 420.21
   [11]     qtv    move STBD_TURN   dir NORTH_WEST  loc 1742,220  DistToNext -66.727074
    Speed 1, FLAG 1
     time  0.00   tot 420.21
   [12]     qtv    move FORWARD   dir NORTH_WEST  loc 1789,173  DistToNext -66.727074
    Speed -1, FLAG 1
     time -240.22   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir NORTH  loc 1700,-99  DistToNext 50.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir NORTH  loc 1735,-134  DistToNext 50.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir EAST  loc 3098,325  DistToNext 0.000000
    Speed 5, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move STBD_TURN   dir SOUTH_EAST  loc 3098,325  DistToNext 59.396969
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move FORWARD   dir SOUTH_EAST  loc 3140,283  DistToNext 0.000000
    Speed 4, FLAG 1
     time 26.73   tot 26.73
   [ 3]     qtv    move STBD_TURN   dir SOUTH  loc 3140,283  DistToNext 425.000000
    Speed 0, FLAG 1
     time  0.00   tot 26.73
   [ 4]     qtv    move FORWARD   dir SOUTH  loc 3140,-142  DistToNext 0.000000
    Speed 5, FLAG 1
     time 153.00   tot 179.73
  End Path <===
* ==> Start Path
   [ 0]     qtv    move STBD_TURN   dir NORTH_EAST  loc 3122,582  DistToNext 69.296463
    Speed 2, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir NORTH_EAST  loc 3171,631  DistToNext 0.000000
    Speed 2, FLAG 1
     time 62.37   tot 62.37
   [ 2]     qtv    move STBD_TURN   dir EAST  loc 3171,631  DistToNext 195.000000
    Speed 0, FLAG 1
     time  0.00   tot 62.37
   [ 3]     qtv    move FORWARD   dir EAST  loc 3366,631  DistToNext 41.000000
    Speed 3, FLAG 1
     time 117.00   tot 179.37
   [ 4]     qtv    move FORWARD   dir EAST  loc 3325,631  DistToNext 0.000000
    Speed 3, FLAG 2
     time 24.60   tot 203.97
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir SOUTH_EAST  loc 1695,-323  DistToNext 0.000000
    Speed 5, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move PORT_TURN   dir EAST  loc 1695,-323  DistToNext 120.000000
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move FORWARD   dir EAST  loc 1815,-323  DistToNext 0.000000
    Speed 6, FLAG 1
     time 36.00   tot 36.00
   [ 3]     qtv    move PORT_TURN   dir NORTH_EAST  loc 1815,-323  DistToNext 60.811184
    Speed 0, FLAG 1
     time  0.00   tot 36.00
   [ 4]     qtv    move FORWARD   dir NORTH_EAST  loc 1858,-280  DistToNext 0.000000
    Speed 4, FLAG 1
     time 27.36   tot 63.36
   [ 5]     qtv    move PORT_TURN   dir NORTH  loc 1858,-280  DistToNext 60.000000
    Speed 4, FLAG 1
     time  0.00   tot 63.36
   [ 6]     qtv    move FORWARD   dir NORTH  loc 1858,-220  DistToNext 0.000000
    Speed 2, FLAG 1
     time 54.00   tot 117.36
   [ 7]     qtv    move PORT_TURN   dir NORTH_WEST  loc 1858,-220  DistToNext 0.000000
    Speed 2, FLAG 1
     time  0.00   tot 117.36
   [ 8]     qtv    move PORT_TURN   dir WEST  loc 1858,-220  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot 117.36
   [ 9]     qtv    move FORWARD   dir WEST  loc 1798,-220  DistToNext 0.000000
    Speed 2, FLAG 1
     time 54.00   tot 171.36
   [10]     qtv    move STBD_TURN   dir NORTH_WEST  loc 1798,-220  DistToNext 2.398605
    Speed 2, FLAG 1
     time  0.00   tot 171.36
   [11]     qtv    move FORWARD   dir NORTH_WEST  loc 1799,-221  DistToNext 0.000000
    Speed -1, FLAG 1
     time  8.63   tot 180.00
   [12]     qtv    move PORT_TURN   dir WEST  loc 1799,-221  DistToNext 2.398605
    Speed 0, FLAG 1
     time  0.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir SOUTH  loc 2708,406  DistToNext 0.000000
    Speed 4, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move PORT_TURN   dir SOUTH_EAST  loc 2708,406  DistToNext 59.396969
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move FORWARD   dir SOUTH_EAST  loc 2750,364  DistToNext 0.000000
    Speed 3, FLAG 1
     time 35.64   tot 35.64
   [ 3]     qtv    move PORT_TURN   dir EAST  loc 2750,364  DistToNext 120.000000
    Speed 0, FLAG 1
     time  0.00   tot 35.64
   [ 4]     qtv    move FORWARD   dir EAST  loc 2870,364  DistToNext 0.000000
    Speed 4, FLAG 1
     time 54.00   tot 89.64
   [ 5]     qtv    move PORT_TURN   dir NORTH_EAST  loc 2870,364  DistToNext 60.811184
    Speed 0, FLAG 1
     time  0.00   tot 89.64
   [ 6]     qtv    move FORWARD   dir NORTH_EAST  loc 2913,407  DistToNext 0.000000
    Speed 2, FLAG 1
     time 54.73   tot 144.37
   [ 7]     qtv    move PORT_TURN   dir NORTH  loc 2913,407  DistToNext 60.000000
    Speed 2, FLAG 1
     time  0.00   tot 144.37
   [ 8]     qtv    move FORWARD   dir NORTH  loc 2913,467  DistToNext 0.000000
    Speed 1, FLAG 1
     time 108.00   tot 252.37
   [ 9]     qtv    move PORT_TURN   dir NORTH_WEST  loc 2913,467  DistToNext 0.000000
    Speed 1, FLAG 1
     time  0.00   tot 252.37
   [10]     qtv    move PORT_TURN   dir WEST  loc 2913,467  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot 252.37
   [11]     qtv    move FORWARD   dir WEST  loc 2853,467  DistToNext 0.000000
    Speed 1, FLAG 1
     time 108.00   tot 360.37
   [12]     qtv    move STBD_TURN   dir NORTH_WEST  loc 2853,467  DistToNext -50.102295
    Speed 1, FLAG 1
     time  0.00   tot 360.37
   [13]     qtv    move FORWARD   dir NORTH_WEST  loc 2888,432  DistToNext 0.000000
    Speed -1, FLAG 1
     time -180.37   tot 180.00
   [14]     qtv    move STBD_TURN   dir NORTH  loc 2888,432  DistToNext -50.102295
    Speed 0, FLAG 1
     time  0.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir EAST  loc 1801,302  DistToNext 120.000000
    Speed 5, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir EAST  loc 1921,302  DistToNext 0.000000
    Speed 5, FLAG 1
     time 43.20   tot 43.20
   [ 2]     qtv    move PORT_TURN   dir NORTH_EAST  loc 1921,302  DistToNext 60.811184
    Speed 0, FLAG 1
     time  0.00   tot 43.20
   [ 3]     qtv    move FORWARD   dir NORTH_EAST  loc 1964,345  DistToNext 0.000000
    Speed 3, FLAG 1
     time 36.49   tot 79.69
   [ 4]     qtv    move PORT_TURN   dir NORTH  loc 1964,345  DistToNext 60.000000
    Speed 3, FLAG 1
     time  0.00   tot 79.69
   [ 5]     qtv    move FORWARD   dir NORTH  loc 1964,405  DistToNext 0.000000
    Speed 1, FLAG 1
     time 108.00   tot 187.69
   [ 6]     qtv    move PORT_TURN   dir NORTH_WEST  loc 1964,405  DistToNext 0.000000
    Speed 1, FLAG 1
     time  0.00   tot 187.69
   [ 7]     qtv    move PORT_TURN   dir WEST  loc 1964,405  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot 187.69
   [ 8]     qtv    move FORWARD   dir WEST  loc 1904,405  DistToNext 0.000000
    Speed 1, FLAG 1
     time 108.00   tot 295.68
   [ 9]     qtv    move STBD_TURN   dir NORTH_WEST  loc 1904,405  DistToNext -32.135197
    Speed 1, FLAG 1
     time  0.00   tot 295.68
   [10]     qtv    move FORWARD   dir NORTH_WEST  loc 1926,383  DistToNext 0.000000
    Speed -1, FLAG 1
     time -115.69   tot 180.00
   [11]     qtv    move PORT_TURN   dir WEST  loc 1926,383  DistToNext -32.135197
    Speed 0, FLAG 1
     time  0.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move STBD_TURN   dir NORTH  loc 2604,752  DistToNext 60.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir NORTH  loc 2604,812  DistToNext 0.000000
    Speed 1, FLAG 1
     time 108.00   tot 108.00
   [ 2]     qtv    move STBD_TURN   dir NORTH_EAST  loc 2604,812  DistToNext 39.597980
    Speed 0, FLAG 1
     time  0.00   tot 108.00
   [ 3]     qtv    move FORWARD   dir NORTH_EAST  loc 2632,840  DistToNext 19.798990
    Speed 1, FLAG 1
     time 71.28   tot 179.27
   [ 4]     qtv    move FORWARD   dir NORTH_EAST  loc 2618,826  DistToNext 0.000000
    Speed 1, FLAG 2
     time 35.64   tot 214.91
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir SOUTH_EAST  loc 1758,384  DistToNext 0.000000
    Speed 4, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move PORT_TURN   dir EAST  loc 1758,384  DistToNext 120.000000
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move FORWARD   dir EAST  loc 1878,384  DistToNext 0.000000
    Speed 5, FLAG 1
     time 43.20   tot 43.20
   [ 3]     qtv    move PORT_TURN   dir NORTH_EAST  loc 1878,384  DistToNext 60.811184
    Speed 0, FLAG 1
     time  0.00   tot 43.20
   [ 4]     qtv    move FORWARD   dir NORTH_EAST  loc 1921,427  DistToNext 0.000000
    Speed 3, FLAG 1
     time 36.49   tot 79.69
   [ 5]     qtv    move PORT_TURN   dir NORTH  loc 1921,427  DistToNext 60.000000
    Speed 3, FLAG 1
     time  0.00   tot 79.69
   [ 6]     qtv    move FORWARD   dir NORTH  loc 1921,487  DistToNext 0.000000
    Speed 2, FLAG 1
     time 54.00   tot 133.69
   [ 7]     qtv    move PORT_TURN   dir NORTH_WEST  loc 1921,487  DistToNext 0.000000
    Speed 2, FLAG 1
     time  0.00   tot 133.69
   [ 8]     qtv    move PORT_TURN   dir WEST  loc 1921,487  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot 133.69
   [ 9]     qtv    move FORWARD   dir WEST  loc 1861,487  DistToNext 0.000000
    Speed 2, FLAG 1
     time 54.00   tot 187.69
   [10]     qtv    move STBD_TURN   dir NORTH_WEST  loc 1861,487  DistToNext -2.135196
    Speed 2, FLAG 1
     time  0.00   tot 187.69
   [11]     qtv    move FORWARD   dir NORTH_WEST  loc 1862,486  DistToNext -2.135196
    Speed -1, FLAG 1
     time -7.69   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move PORT_TURN   dir SOUTH_EAST  loc 713,717  DistToNext 50.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir SOUTH_EAST  loc 748,682  DistToNext 0.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
   [ 2]     qtv    move PORT_TURN   dir EAST  loc 748,682  DistToNext 50.000000
    Speed 0, FLAG 1
     time  0.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move STBD_TURN   dir EAST  loc 1510,896  DistToNext 50.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir EAST  loc 1545,861  DistToNext 0.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
   [ 2]     qtv    move PORT_TURN   dir NORTH_EAST  loc 1545,861  DistToNext 50.000000
    Speed 0, FLAG 1
     time  0.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir NORTH  loc 3192,-1917  DistToNext 0.000000
    Speed 2, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move STBD_TURN   dir NORTH_EAST  loc 3192,-1917  DistToNext 59.396969
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move FORWARD   dir NORTH_EAST  loc 3234,-1875  DistToNext 0.000000
    Speed 3, FLAG 1
     time 35.64   tot 35.64
   [ 3]     qtv    move STBD_TURN   dir EAST  loc 3234,-1875  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot 35.64
   [ 4]     qtv    move FORWARD   dir EAST  loc 3294,-1875  DistToNext 0.000000
    Speed 5, FLAG 1
     time 21.60   tot 57.24
   [ 5]     qtv    move STBD_TURN   dir SOUTH_EAST  loc 3294,-1875  DistToNext 59.396969
    Speed 0, FLAG 1
     time  0.00   tot 57.24
   [ 6]     qtv    move FORWARD   dir SOUTH_EAST  loc 3336,-1917  DistToNext 0.000000
    Speed 4, FLAG 1
     time 26.73   tot 83.97
   [ 7]     qtv    move STBD_TURN   dir SOUTH  loc 3336,-1917  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot 83.97
   [ 8]     qtv    move FORWARD   dir SOUTH  loc 3336,-1977  DistToNext 0.000000
    Speed 5, FLAG 1
     time 21.60   tot 105.57
   [ 9]     qtv    move STBD_TURN   dir SOUTH_WEST  loc 3336,-1977  DistToNext 59.396969
    Speed 0, FLAG 1
     time  0.00   tot 105.57
   [10]     qtv    move FORWARD   dir SOUTH_WEST  loc 3294,-2019  DistToNext 0.000000
    Speed 3, FLAG 1
     time 35.64   tot 141.20
   [11]     qtv    move STBD_TURN   dir WEST  loc 3294,-2019  DistToNext 42.000000
    Speed 0, FLAG 1
     time  0.00   tot 141.20
   [12]     qtv    move FORWARD   dir WEST  loc 3252,-2019  DistToNext 25.000000
    Speed 2, FLAG 1
     time 37.80   tot 179.00
   [13]     qtv    move FORWARD   dir WEST  loc 3277,-2019  DistToNext 0.000000
    Speed 2, FLAG 2
     time 22.50   tot 201.50
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir NORTH  loc 1898,218  DistToNext 50.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir NORTH  loc 1933,183  DistToNext 0.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
   [ 2]     qtv    move STBD_TURN   dir NORTH_EAST  loc 1933,183  DistToNext 50.000000
    Speed 0, FLAG 1
     time  0.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move STBD_TURN   dir EAST  loc 2014,291  DistToNext 50.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir EAST  loc 2049,256  DistToNext 0.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
   [ 2]     qtv    move STBD_TURN   dir SOUTH_EAST  loc 2049,256  DistToNext 50.000000
    Speed 0, FLAG 1
     time  0.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move PORT_TURN   dir SOUTH  loc 1944,-380  DistToNext 50.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir SOUTH  loc 1979,-415  DistToNext 50.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move STBD_TURN   dir EAST  loc 1647,236  DistToNext 50.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir EAST  loc 1682,201  DistToNext 50.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir EAST  loc 2144,-1386  DistToNext 0.000000
    Speed 3, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move STBD_TURN   dir SOUTH_EAST  loc 2144,-1386  DistToNext 199.404114
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move FORWARD   dir SOUTH_EAST  loc 2285,-1527  DistToNext 0.000000
    Speed 2, FLAG 1
     time 179.46   tot 179.46
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir NORTH  loc 3363,-2029  DistToNext 0.000000
    Speed 2, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move STBD_TURN   dir NORTH_EAST  loc 3363,-2029  DistToNext 59.396969
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move FORWARD   dir NORTH_EAST  loc 3405,-1987  DistToNext 0.000000
    Speed 3, FLAG 1
     time 35.64   tot 35.64
   [ 3]     qtv    move STBD_TURN   dir EAST  loc 3405,-1987  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot 35.64
   [ 4]     qtv    move FORWARD   dir EAST  loc 3465,-1987  DistToNext 0.000000
    Speed 5, FLAG 1
     time 21.60   tot 57.24
   [ 5]     qtv    move STBD_TURN   dir SOUTH_EAST  loc 3465,-1987  DistToNext 59.396969
    Speed 0, FLAG 1
     time  0.00   tot 57.24
   [ 6]     qtv    move FORWARD   dir SOUTH_EAST  loc 3507,-2029  DistToNext 0.000000
    Speed 4, FLAG 1
     time 26.73   tot 83.97
   [ 7]     qtv    move STBD_TURN   dir SOUTH  loc 3507,-2029  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot 83.97
   [ 8]     qtv    move FORWARD   dir SOUTH  loc 3507,-2089  DistToNext 0.000000
    Speed 5, FLAG 1
     time 21.60   tot 105.57
   [ 9]     qtv    move STBD_TURN   dir SOUTH_WEST  loc 3507,-2089  DistToNext 59.396969
    Speed 0, FLAG 1
     time  0.00   tot 105.57
   [10]     qtv    move FORWARD   dir SOUTH_WEST  loc 3465,-2131  DistToNext 0.000000
    Speed 3, FLAG 1
     time 35.64   tot 141.20
   [11]     qtv    move STBD_TURN   dir WEST  loc 3465,-2131  DistToNext 42.000000
    Speed 0, FLAG 1
     time  0.00   tot 141.20
   [12]     qtv    move FORWARD   dir WEST  loc 3423,-2131  DistToNext 25.000000
    Speed 2, FLAG 1
     time 37.80   tot 179.00
   [13]     qtv    move FORWARD   dir WEST  loc 3448,-2131  DistToNext 0.000000
    Speed 2, FLAG 2
     time 22.50   tot 201.50
  End Path <===
* ==> Start Path
   [ 0]     qtv    move STBD_TURN   dir SOUTH  loc 1594,904  DistToNext 50.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir SOUTH  loc 1629,869  DistToNext 0.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
   [ 2]     qtv    move PORT_TURN   dir SOUTH_EAST  loc 1629,869  DistToNext 50.000000
    Speed 0, FLAG 1
     time  0.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move PORT_TURN   dir EAST  loc 1887,-155  DistToNext 50.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir EAST  loc 1922,-190  DistToNext 50.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir NORTH  loc 3337,-1077  DistToNext 0.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move STBD_TURN   dir NORTH_EAST  loc 3337,-1077  DistToNext 59.396969
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move FORWARD   dir NORTH_EAST  loc 3379,-1035  DistToNext 0.000000
    Speed 3, FLAG 1
     time 35.64   tot 35.64
   [ 3]     qtv    move STBD_TURN   dir EAST  loc 3379,-1035  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot 35.64
   [ 4]     qtv    move FORWARD   dir EAST  loc 3439,-1035  DistToNext 0.000000
    Speed 4, FLAG 1
     time 27.00   tot 62.64
   [ 5]     qtv    move STBD_TURN   dir SOUTH_EAST  loc 3439,-1035  DistToNext 59.396969
    Speed 0, FLAG 1
     time  0.00   tot 62.64
   [ 6]     qtv    move FORWARD   dir SOUTH_EAST  loc 3481,-1077  DistToNext 0.000000
    Speed 4, FLAG 1
     time 26.73   tot 89.37
   [ 7]     qtv    move STBD_TURN   dir SOUTH  loc 3481,-1077  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot 89.37
   [ 8]     qtv    move FORWARD   dir SOUTH  loc 3481,-1137  DistToNext 0.000000
    Speed 4, FLAG 1
     time 27.00   tot 116.37
   [ 9]     qtv    move STBD_TURN   dir SOUTH_WEST  loc 3481,-1137  DistToNext 59.396969
    Speed 0, FLAG 1
     time  0.00   tot 116.37
   [10]     qtv    move FORWARD   dir SOUTH_WEST  loc 3439,-1179  DistToNext 0.000000
    Speed 3, FLAG 1
     time 35.64   tot 152.00
   [11]     qtv    move STBD_TURN   dir WEST  loc 3439,-1179  DistToNext 15.000000
    Speed 0, FLAG 1
     time  0.00   tot 152.00
   [12]     qtv    move FORWARD   dir WEST  loc 3424,-1179  DistToNext 29.000000
    Speed 1, FLAG 1
     time 27.00   tot 179.00
   [13]     qtv    move FORWARD   dir WEST  loc 3395,-1179  DistToNext 0.000000
    Speed 1, FLAG 2
     time 52.20   tot 231.20
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir SOUTH  loc 2365,-1665  DistToNext 140.000000
    Speed 2, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir SOUTH  loc 2365,-1805  DistToNext 0.000000
    Speed 2, FLAG 1
     time 126.00   tot 126.00
   [ 2]     qtv    move STBD_TURN   dir SOUTH_WEST  loc 2365,-1805  DistToNext 29.698484
    Speed 0, FLAG 1
     time  0.00   tot 126.00
   [ 3]     qtv    move FORWARD   dir SOUTH_WEST  loc 2344,-1826  DistToNext 9.899495
    Speed 1, FLAG 1
     time 53.46   tot 179.46
   [ 4]     qtv    move FORWARD   dir SOUTH_WEST  loc 2337,-1833  DistToNext 0.000000
    Speed 1, FLAG 2
     time 17.82   tot 197.27
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir SOUTH  loc 1768,136  DistToNext 50.000000
    Speed 6, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir SOUTH  loc 1803,101  DistToNext 50.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir NORTH_EAST  loc 1786,107  DistToNext 50.000000
    Speed 2, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir NORTH_EAST  loc 1821,72  DistToNext 50.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir NORTH  loc 1735,-134  DistToNext 50.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir NORTH  loc 1770,-169  DistToNext 0.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
   [ 2]     qtv    move STBD_TURN   dir NORTH_EAST  loc 1770,-169  DistToNext 50.000000
    Speed 0, FLAG 1
     time  0.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir SOUTH  loc 3140,-142  DistToNext 0.000000
    Speed 5, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move PORT_TURN   dir SOUTH_EAST  loc 3140,-142  DistToNext 59.396969
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move FORWARD   dir SOUTH_EAST  loc 3182,-184  DistToNext 0.000000
    Speed 4, FLAG 1
     time 26.73   tot 26.73
   [ 3]     qtv    move PORT_TURN   dir EAST  loc 3182,-184  DistToNext 120.000000
    Speed 0, FLAG 1
     time  0.00   tot 26.73
   [ 4]     qtv    move FORWARD   dir EAST  loc 3302,-184  DistToNext 0.000000
    Speed 5, FLAG 1
     time 43.20   tot 69.93
   [ 5]     qtv    move PORT_TURN   dir NORTH_EAST  loc 3302,-184  DistToNext 60.811184
    Speed 0, FLAG 1
     time  0.00   tot 69.93
   [ 6]     qtv    move FORWARD   dir NORTH_EAST  loc 3345,-141  DistToNext 0.000000
    Speed 3, FLAG 1
     time 36.49   tot 106.41
   [ 7]     qtv    move PORT_TURN   dir NORTH  loc 3345,-141  DistToNext 60.000000
    Speed 3, FLAG 1
     time  0.00   tot 106.41
   [ 8]     qtv    move FORWARD   dir NORTH  loc 3345,-81  DistToNext 0.000000
    Speed 1, FLAG 1
     time 108.00   tot 214.41
   [ 9]     qtv    move PORT_TURN   dir NORTH_WEST  loc 3345,-81  DistToNext 0.000000
    Speed 1, FLAG 1
     time  0.00   tot 214.41
   [10]     qtv    move PORT_TURN   dir WEST  loc 3345,-81  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot 214.41
   [11]     qtv    move FORWARD   dir WEST  loc 3285,-81  DistToNext 0.000000
    Speed 1, FLAG 1
     time 108.00   tot 322.41
   [12]     qtv    move STBD_TURN   dir NORTH_WEST  loc 3285,-81  DistToNext -39.559818
    Speed 1, FLAG 1
     time  0.00   tot 322.41
   [13]     qtv    move FORWARD   dir NORTH_WEST  loc 3312,-108  DistToNext -39.559818
    Speed -1, FLAG 1
     time -142.42   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move STBD_TURN   dir EAST  loc 3366,631  DistToNext 300.000000
    Speed 3, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir EAST  loc 3666,631  DistToNext 0.000000
    Speed 3, FLAG 1
     time 180.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move PORT_TURN   dir WEST  loc 1799,-221  DistToNext 60.000000
    Speed 2, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir WEST  loc 1739,-221  DistToNext 0.000000
    Speed 2, FLAG 1
     time 54.00   tot 54.00
   [ 2]     qtv    move PORT_TURN   dir SOUTH_WEST  loc 1739,-221  DistToNext 59.396969
    Speed 0, FLAG 1
     time  0.00   tot 54.00
   [ 3]     qtv    move FORWARD   dir SOUTH_WEST  loc 1697,-263  DistToNext 0.000000
    Speed 4, FLAG 1
     time 26.73   tot 80.73
   [ 4]     qtv    move PORT_TURN   dir SOUTH  loc 1697,-263  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot 80.73
   [ 5]     qtv    move FORWARD   dir SOUTH  loc 1697,-323  DistToNext 0.000000
    Speed 6, FLAG 1
     time 18.00   tot 98.73
   [ 6]     qtv    move PORT_TURN   dir SOUTH_EAST  loc 1697,-323  DistToNext 59.396969
    Speed 0, FLAG 1
     time  0.00   tot 98.73
   [ 7]     qtv    move FORWARD   dir SOUTH_EAST  loc 1739,-365  DistToNext 0.000000
    Speed 5, FLAG 1
     time 21.38   tot 120.11
   [ 8]     qtv    move PORT_TURN   dir EAST  loc 1739,-365  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot 120.11
   [ 9]     qtv    move FORWARD   dir EAST  loc 1799,-365  DistToNext 0.000000
    Speed 6, FLAG 1
     time 18.00   tot 138.11
   [10]     qtv    move PORT_TURN   dir NORTH_EAST  loc 1799,-365  DistToNext 59.396969
    Speed 0, FLAG 1
     time  0.00   tot 138.11
   [11]     qtv    move FORWARD   dir NORTH_EAST  loc 1841,-323  DistToNext 0.000000
    Speed 4, FLAG 1
     time 26.73   tot 164.84
   [12]     qtv    move PORT_TURN   dir NORTH  loc 1841,-323  DistToNext 16.000000
    Speed 0, FLAG 1
     time  0.00   tot 164.84
   [13]     qtv    move FORWARD   dir NORTH  loc 1841,-307  DistToNext 27.000000
    Speed 2, FLAG 1
     time 14.40   tot 179.24
   [14]     qtv    move FORWARD   dir NORTH  loc 1841,-280  DistToNext 0.000000
    Speed 2, FLAG 2
     time 24.30   tot 203.54
  End Path <===
* ==> Start Path
   [ 0]     qtv    move STBD_TURN   dir NORTH  loc 2888,432  DistToNext 60.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir NORTH  loc 2888,492  DistToNext 0.000000
    Speed 1, FLAG 1
     time 108.00   tot 108.00
   [ 2]     qtv    move STBD_TURN   dir NORTH_EAST  loc 2888,492  DistToNext 59.396969
    Speed 0, FLAG 1
     time  0.00   tot 108.00
   [ 3]     qtv    move FORWARD   dir NORTH_EAST  loc 2930,534  DistToNext 0.000000
    Speed 2, FLAG 1
     time 53.46   tot 161.46
   [ 4]     qtv    move STBD_TURN   dir EAST  loc 2930,534  DistToNext 40.000000
    Speed 0, FLAG 1
     time  0.00   tot 161.46
   [ 5]     qtv    move FORWARD   dir EAST  loc 2970,534  DistToNext 21.000000
    Speed 4, FLAG 1
     time 18.00   tot 179.46
   [ 6]     qtv    move FORWARD   dir EAST  loc 2949,534  DistToNext 0.000000
    Speed 4, FLAG 2
     time  9.45   tot 188.91
  End Path <===
* ==> Start Path
   [ 0]     qtv    move PORT_TURN   dir NORTH  loc 1926,383  DistToNext 60.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir NORTH  loc 1926,443  DistToNext 0.000000
    Speed 1, FLAG 1
     time 108.00   tot 108.00
   [ 2]     qtv    move STBD_TURN   dir NORTH_EAST  loc 1926,443  DistToNext 59.396969
    Speed 0, FLAG 1
     time  0.00   tot 108.00
   [ 3]     qtv    move FORWARD   dir NORTH_EAST  loc 1968,485  DistToNext 0.000000
    Speed 3, FLAG 1
     time 35.64   tot 143.64
   [ 4]     qtv    move STBD_TURN   dir EAST  loc 1968,485  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot 143.64
   [ 5]     qtv    move FORWARD   dir EAST  loc 2028,485  DistToNext 0.000000
    Speed 5, FLAG 1
     time 21.60   tot 165.24
   [ 6]     qtv    move STBD_TURN   dir SOUTH_EAST  loc 2028,485  DistToNext 31.112698
    Speed 0, FLAG 1
     time  0.00   tot 165.24
   [ 7]     qtv    move FORWARD   dir SOUTH_EAST  loc 2050,463  DistToNext 4.242640
    Speed 4, FLAG 1
     time 14.00   tot 179.24
   [ 8]     qtv    move FORWARD   dir SOUTH_EAST  loc 2047,466  DistToNext 0.000000
    Speed 4, FLAG 2
     time  1.91   tot 181.15
  End Path <===
* ==> Start Path
   [ 0]     qtv    move STBD_TURN   dir NORTH_EAST  loc 2632,840  DistToNext 59.396969
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir NORTH_EAST  loc 2674,882  DistToNext 0.000000
    Speed 1, FLAG 1
     time 106.91   tot 106.91
   [ 2]     qtv    move STBD_TURN   dir EAST  loc 2674,882  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot 106.91
   [ 3]     qtv    move FORWARD   dir EAST  loc 2734,882  DistToNext 0.000000
    Speed 3, FLAG 1
     time 36.00   tot 142.91
   [ 4]     qtv    move STBD_TURN   dir SOUTH_EAST  loc 2734,882  DistToNext 39.597980
    Speed 0, FLAG 1
     time  0.00   tot 142.91
   [ 5]     qtv    move FORWARD   dir SOUTH_EAST  loc 2762,854  DistToNext 19.798990
    Speed 2, FLAG 1
     time 35.64   tot 178.55
   [ 6]     qtv    move FORWARD   dir SOUTH_EAST  loc 2748,868  DistToNext 0.000000
    Speed 2, FLAG 2
     time 17.82   tot 196.37
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir WEST  loc 1862,486  DistToNext 0.000000
    Speed 2, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move PORT_TURN   dir SOUTH_WEST  loc 1862,486  DistToNext 59.396969
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move FORWARD   dir SOUTH_WEST  loc 1820,444  DistToNext 0.000000
    Speed 3, FLAG 1
     time 35.64   tot 35.64
   [ 3]     qtv    move PORT_TURN   dir SOUTH  loc 1820,444  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot 35.64
   [ 4]     qtv    move FORWARD   dir SOUTH  loc 1820,384  DistToNext 0.000000
    Speed 5, FLAG 1
     time 21.60   tot 57.24
   [ 5]     qtv    move PORT_TURN   dir SOUTH_EAST  loc 1820,384  DistToNext 271.528992
    Speed 0, FLAG 1
     time  0.00   tot 57.24
   [ 6]     qtv    move FORWARD   dir SOUTH_EAST  loc 2012,192  DistToNext 0.000000
    Speed 4, FLAG 1
     time 122.19   tot 179.42
  End Path <===
* ==> Start Path
   [ 0]     qtv    move PORT_TURN   dir EAST  loc 748,682  DistToNext 50.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir EAST  loc 783,647  DistToNext 0.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
   [ 2]     qtv    move STBD_TURN   dir SOUTH_EAST  loc 783,647  DistToNext 50.000000
    Speed 0, FLAG 1
     time  0.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move PORT_TURN   dir NORTH_EAST  loc 1545,861  DistToNext 50.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir NORTH_EAST  loc 1580,826  DistToNext 0.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
   [ 2]     qtv    move PORT_TURN   dir NORTH  loc 1580,826  DistToNext 50.000000
    Speed 0, FLAG 1
     time  0.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir WEST  loc 3252,-2019  DistToNext 0.000000
    Speed 2, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move PORT_TURN   dir SOUTH_WEST  loc 3252,-2019  DistToNext 59.396969
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move FORWARD   dir SOUTH_WEST  loc 3210,-2061  DistToNext 0.000000
    Speed 3, FLAG 1
     time 35.64   tot 35.64
   [ 3]     qtv    move PORT_TURN   dir SOUTH  loc 3210,-2061  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot 35.64
   [ 4]     qtv    move FORWARD   dir SOUTH  loc 3210,-2121  DistToNext 0.000000
    Speed 5, FLAG 1
     time 21.60   tot 57.24
   [ 5]     qtv    move PORT_TURN   dir SOUTH_EAST  loc 3210,-2121  DistToNext 59.396969
    Speed 0, FLAG 1
     time  0.00   tot 57.24
   [ 6]     qtv    move FORWARD   dir SOUTH_EAST  loc 3252,-2163  DistToNext 0.000000
    Speed 4, FLAG 1
     time 26.73   tot 83.97
   [ 7]     qtv    move PORT_TURN   dir EAST  loc 3252,-2163  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot 83.97
   [ 8]     qtv    move FORWARD   dir EAST  loc 3312,-2163  DistToNext 0.000000
    Speed 5, FLAG 1
     time 21.60   tot 105.57
   [ 9]     qtv    move PORT_TURN   dir NORTH_EAST  loc 3312,-2163  DistToNext 59.396969
    Speed 0, FLAG 1
     time  0.00   tot 105.57
   [10]     qtv    move FORWARD   dir NORTH_EAST  loc 3354,-2121  DistToNext 0.000000
    Speed 3, FLAG 1
     time 35.64   tot 141.20
   [11]     qtv    move PORT_TURN   dir NORTH  loc 3354,-2121  DistToNext 42.000000
    Speed 0, FLAG 1
     time  0.00   tot 141.20
   [12]     qtv    move FORWARD   dir NORTH  loc 3354,-2079  DistToNext 25.000000
    Speed 2, FLAG 1
     time 37.80   tot 179.00
   [13]     qtv    move FORWARD   dir NORTH  loc 3354,-2104  DistToNext 0.000000
    Speed 2, FLAG 2
     time 22.50   tot 201.50
  End Path <===
* ==> Start Path
   [ 0]     qtv    move STBD_TURN   dir NORTH_EAST  loc 1933,183  DistToNext 50.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir NORTH_EAST  loc 1968,148  DistToNext 0.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
   [ 2]     qtv    move PORT_TURN   dir NORTH  loc 1968,148  DistToNext 50.000000
    Speed 0, FLAG 1
     time  0.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move STBD_TURN   dir SOUTH_EAST  loc 2049,256  DistToNext 50.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir SOUTH_EAST  loc 2084,221  DistToNext 0.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
   [ 2]     qtv    move STBD_TURN   dir SOUTH  loc 2084,221  DistToNext 50.000000
    Speed 0, FLAG 1
     time  0.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir SOUTH  loc 1979,-415  DistToNext 50.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir SOUTH  loc 2014,-450  DistToNext 0.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
   [ 2]     qtv    move STBD_TURN   dir SOUTH_WEST  loc 2014,-450  DistToNext 50.000000
    Speed 0, FLAG 1
     time  0.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir EAST  loc 1682,201  DistToNext 50.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir EAST  loc 1717,166  DistToNext 0.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
   [ 2]     qtv    move STBD_TURN   dir SOUTH_EAST  loc 1717,166  DistToNext 50.000000
    Speed 0, FLAG 1
     time  0.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir SOUTH_EAST  loc 2285,-1527  DistToNext 50.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir SOUTH_EAST  loc 2320,-1562  DistToNext 50.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir WEST  loc 3423,-2131  DistToNext 0.000000
    Speed 2, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move PORT_TURN   dir SOUTH_WEST  loc 3423,-2131  DistToNext 59.396969
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move FORWARD   dir SOUTH_WEST  loc 3381,-2173  DistToNext 0.000000
    Speed 3, FLAG 1
     time 35.64   tot 35.64
   [ 3]     qtv    move PORT_TURN   dir SOUTH  loc 3381,-2173  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot 35.64
   [ 4]     qtv    move FORWARD   dir SOUTH  loc 3381,-2233  DistToNext 0.000000
    Speed 5, FLAG 1
     time 21.60   tot 57.24
   [ 5]     qtv    move PORT_TURN   dir SOUTH_EAST  loc 3381,-2233  DistToNext 59.396969
    Speed 0, FLAG 1
     time  0.00   tot 57.24
   [ 6]     qtv    move FORWARD   dir SOUTH_EAST  loc 3423,-2275  DistToNext 0.000000
    Speed 4, FLAG 1
     time 26.73   tot 83.97
   [ 7]     qtv    move PORT_TURN   dir EAST  loc 3423,-2275  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot 83.97
   [ 8]     qtv    move FORWARD   dir EAST  loc 3483,-2275  DistToNext 0.000000
    Speed 5, FLAG 1
     time 21.60   tot 105.57
   [ 9]     qtv    move PORT_TURN   dir NORTH_EAST  loc 3483,-2275  DistToNext 59.396969
    Speed 0, FLAG 1
     time  0.00   tot 105.57
   [10]     qtv    move FORWARD   dir NORTH_EAST  loc 3525,-2233  DistToNext 0.000000
    Speed 3, FLAG 1
     time 35.64   tot 141.20
   [11]     qtv    move PORT_TURN   dir NORTH  loc 3525,-2233  DistToNext 42.000000
    Speed 0, FLAG 1
     time  0.00   tot 141.20
   [12]     qtv    move FORWARD   dir NORTH  loc 3525,-2191  DistToNext 25.000000
    Speed 2, FLAG 1
     time 37.80   tot 179.00
   [13]     qtv    move FORWARD   dir NORTH  loc 3525,-2216  DistToNext 0.000000
    Speed 2, FLAG 2
     time 22.50   tot 201.50
  End Path <===
* ==> Start Path
   [ 0]     qtv    move PORT_TURN   dir SOUTH_EAST  loc 1629,869  DistToNext 50.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir SOUTH_EAST  loc 1664,834  DistToNext 0.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
   [ 2]     qtv    move PORT_TURN   dir EAST  loc 1664,834  DistToNext 50.000000
    Speed 0, FLAG 1
     time  0.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir EAST  loc 1922,-190  DistToNext 50.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir EAST  loc 1957,-225  DistToNext 0.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
   [ 2]     qtv    move PORT_TURN   dir NORTH_EAST  loc 1957,-225  DistToNext 50.000000
    Speed 0, FLAG 1
     time  0.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir WEST  loc 3424,-1179  DistToNext 100.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir WEST  loc 3324,-1179  DistToNext 0.000000
    Speed 1, FLAG 1
     time 180.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir SOUTH_WEST  loc 2344,-1826  DistToNext 0.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move PORT_TURN   dir SOUTH  loc 2344,-1826  DistToNext 70.000000
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move FORWARD   dir SOUTH  loc 2344,-1896  DistToNext 0.000000
    Speed 2, FLAG 1
     time 63.00   tot 63.00
   [ 3]     qtv    move PORT_TURN   dir SOUTH_EAST  loc 2344,-1896  DistToNext 128.693436
    Speed 0, FLAG 1
     time  0.00   tot 63.00
   [ 4]     qtv    move FORWARD   dir SOUTH_EAST  loc 2435,-1987  DistToNext 0.000000
    Speed 2, FLAG 1
     time 115.82   tot 178.82
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir SOUTH  loc 1802,102  DistToNext 0.000000
    Speed 6, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move STBD_TURN   dir SOUTH_WEST  loc 1802,102  DistToNext 70.710678
    Speed 6, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move FORWARD   dir SOUTH_WEST  loc 1752,52  DistToNext 0.000000
    Speed 4, FLAG 1
     time 31.82   tot 31.82
   [ 3]     qtv    move STBD_TURN   dir WEST  loc 1752,52  DistToNext 70.000000
    Speed 4, FLAG 1
     time  0.00   tot 31.82
   [ 4]     qtv    move FORWARD   dir WEST  loc 1682,52  DistToNext 0.000000
    Speed 2, FLAG 1
     time 63.00   tot 94.82
   [ 5]     qtv    move STBD_TURN   dir NORTH_WEST  loc 1682,52  DistToNext 0.000000
    Speed 2, FLAG 1
     time  0.00   tot 94.82
   [ 6]     qtv    move STBD_TURN   dir NORTH  loc 1682,52  DistToNext 94.000000
    Speed 0, FLAG 1
     time  0.00   tot 94.82
   [ 7]     qtv    move FORWARD   dir NORTH  loc 1682,146  DistToNext 21.000000
    Speed 2, FLAG 1
     time 84.60   tot 179.42
   [ 8]     qtv    move FORWARD   dir NORTH  loc 1682,167  DistToNext 0.000000
    Speed 2, FLAG 2
     time 18.90   tot 198.32
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir NORTH_EAST  loc 1730,163  DistToNext 0.000000
    Speed 2, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move BACK_SAIL   dir EAST  loc 1730,163  DistToNext 70.000000
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move STBD_TURN   dir EAST  loc 1730,163  DistToNext 70.000000
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 3]     qtv    move FORWARD   dir EAST  loc 1800,163  DistToNext 0.000000
    Speed 3, FLAG 1
     time 42.00   tot 42.00
   [ 4]     qtv    move STBD_TURN   dir SOUTH_EAST  loc 1800,163  DistToNext 140.007141
    Speed 0, FLAG 1
     time  0.00   tot 42.00
   [ 5]     qtv    move FORWARD   dir SOUTH_EAST  loc 1899,64  DistToNext 0.000000
    Speed 3, FLAG 1
     time 84.00   tot 126.00
   [ 6]     qtv    move NO_DIRECTION   dir SOUTH_EAST  loc 1899,64  DistToNext 247.487381
    Speed 0, FLAG 1
     time  0.00   tot 126.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move STBD_TURN   dir NORTH_EAST  loc 1770,-169  DistToNext 50.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir NORTH_EAST  loc 1805,-204  DistToNext 0.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
   [ 2]     qtv    move STBD_TURN   dir EAST  loc 1805,-204  DistToNext 50.000000
    Speed 0, FLAG 1
     time  0.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir NORTH  loc 3312,-108  DistToNext 0.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move STBD_TURN   dir NORTH_EAST  loc 3312,-108  DistToNext 59.396969
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move FORWARD   dir NORTH_EAST  loc 3354,-66  DistToNext 0.000000
    Speed 3, FLAG 1
     time 35.64   tot 35.64
   [ 3]     qtv    move STBD_TURN   dir EAST  loc 3354,-66  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot 35.64
   [ 4]     qtv    move FORWARD   dir EAST  loc 3414,-66  DistToNext 0.000000
    Speed 5, FLAG 1
     time 21.60   tot 57.24
   [ 5]     qtv    move STBD_TURN   dir SOUTH_EAST  loc 3414,-66  DistToNext 118.793938
    Speed 0, FLAG 1
     time  0.00   tot 57.24
   [ 6]     qtv    move FORWARD   dir SOUTH_EAST  loc 3498,-150  DistToNext 0.000000
    Speed 4, FLAG 1
     time 53.46   tot 110.69
   [ 7]     qtv    move STBD_TURN   dir SOUTH  loc 3498,-150  DistToNext 120.000000
    Speed 0, FLAG 1
     time  0.00   tot 110.69
   [ 8]     qtv    move FORWARD   dir SOUTH  loc 3498,-270  DistToNext 0.000000
    Speed 5, FLAG 1
     time 43.20   tot 153.89
   [ 9]     qtv    move STBD_TURN   dir SOUTH_WEST  loc 3498,-270  DistToNext 41.012192
    Speed 0, FLAG 1
     time  0.00   tot 153.89
   [10]     qtv    move FORWARD   dir SOUTH_WEST  loc 3469,-299  DistToNext 24.041630
    Speed 3, FLAG 1
     time 24.61   tot 178.50
   [11]     qtv    move FORWARD   dir SOUTH_WEST  loc 3486,-282  DistToNext 0.000000
    Speed 3, FLAG 2
     time 14.42   tot 192.93
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir EAST  loc 3666,631  DistToNext 140.000000
    Speed 3, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir EAST  loc 3806,631  DistToNext 0.000000
    Speed 3, FLAG 1
     time 84.00   tot 84.00
   [ 2]     qtv    move PORT_TURN   dir NORTH_EAST  loc 3806,631  DistToNext 70.710678
    Speed 0, FLAG 1
     time  0.00   tot 84.00
   [ 3]     qtv    move FORWARD   dir NORTH_EAST  loc 3856,681  DistToNext 0.000000
    Speed 2, FLAG 1
     time 63.64   tot 147.64
   [ 4]     qtv    move PORT_TURN   dir NORTH  loc 3856,681  DistToNext 70.000000
    Speed 2, FLAG 1
     time  0.00   tot 147.64
   [ 5]     qtv    move FORWARD   dir NORTH  loc 3856,751  DistToNext 0.000000
    Speed 1, FLAG 1
     time 126.00   tot 273.64
   [ 6]     qtv    move PORT_TURN   dir NORTH_WEST  loc 3856,751  DistToNext 0.000000
    Speed 1, FLAG 1
     time  0.00   tot 273.64
   [ 7]     qtv    move PORT_TURN   dir WEST  loc 3856,751  DistToNext 70.000000
    Speed 0, FLAG 1
     time  0.00   tot 273.64
   [ 8]     qtv    move FORWARD   dir WEST  loc 3786,751  DistToNext 0.000000
    Speed 1, FLAG 1
     time 126.00   tot 399.64
   [ 9]     qtv    move STBD_TURN   dir NORTH_WEST  loc 3786,751  DistToNext -61.010998
    Speed 1, FLAG 1
     time  0.00   tot 399.64
   [10]     qtv    move FORWARD   dir NORTH_WEST  loc 3829,708  DistToNext 0.000000
    Speed -1, FLAG 1
     time -219.64   tot 180.00
   [11]     qtv    move PORT_TURN   dir WEST  loc 3829,708  DistToNext -61.010998
    Speed 0, FLAG 1
     time  0.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move PORT_TURN   dir NORTH  loc 1841,-307  DistToNext 60.000000
    Speed 2, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir NORTH  loc 1841,-247  DistToNext 0.000000
    Speed 2, FLAG 1
     time 54.00   tot 54.00
   [ 2]     qtv    move STBD_TURN   dir NORTH_EAST  loc 1841,-247  DistToNext 59.396969
    Speed 0, FLAG 1
     time  0.00   tot 54.00
   [ 3]     qtv    move FORWARD   dir NORTH_EAST  loc 1883,-205  DistToNext 0.000000
    Speed 4, FLAG 1
     time 26.73   tot 80.73
   [ 4]     qtv    move STBD_TURN   dir EAST  loc 1883,-205  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot 80.73
   [ 5]     qtv    move FORWARD   dir EAST  loc 1943,-205  DistToNext 0.000000
    Speed 6, FLAG 1
     time 18.00   tot 98.73
   [ 6]     qtv    move STBD_TURN   dir SOUTH_EAST  loc 1943,-205  DistToNext 223.445740
    Speed 0, FLAG 1
     time  0.00   tot 98.73
   [ 7]     qtv    move FORWARD   dir SOUTH_EAST  loc 2101,-363  DistToNext 0.000000
    Speed 5, FLAG 1
     time 80.44   tot 179.17
  End Path <===
* ==> Start Path
   [ 0]     qtv    move STBD_TURN   dir EAST  loc 2970,534  DistToNext 400.000000
    Speed 4, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir EAST  loc 3370,534  DistToNext 0.000000
    Speed 4, FLAG 1
     time 180.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move PORT_TURN   dir SOUTH_EAST  loc 2050,463  DistToNext 398.808228
    Speed 4, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir SOUTH_EAST  loc 2332,181  DistToNext 0.000000
    Speed 4, FLAG 1
     time 179.46   tot 179.46
  End Path <===
* ==> Start Path
   [ 0]     qtv    move STBD_TURN   dir SOUTH_EAST  loc 2762,854  DistToNext 59.396969
    Speed 2, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir SOUTH_EAST  loc 2804,812  DistToNext 0.000000
    Speed 2, FLAG 1
     time 53.46   tot 53.46
   [ 2]     qtv    move STBD_TURN   dir SOUTH  loc 2804,812  DistToNext 210.000000
    Speed 0, FLAG 1
     time  0.00   tot 53.46
   [ 3]     qtv    move FORWARD   dir SOUTH  loc 2804,602  DistToNext 0.000000
    Speed 3, FLAG 1
     time 126.00   tot 179.46
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir SOUTH_EAST  loc 2012,192  DistToNext 0.000000
    Speed 4, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move PORT_TURN   dir EAST  loc 2012,192  DistToNext 120.000000
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move FORWARD   dir EAST  loc 2132,192  DistToNext 0.000000
    Speed 5, FLAG 1
     time 43.20   tot 43.20
   [ 3]     qtv    move PORT_TURN   dir NORTH_EAST  loc 2132,192  DistToNext 60.811184
    Speed 0, FLAG 1
     time  0.00   tot 43.20
   [ 4]     qtv    move FORWARD   dir NORTH_EAST  loc 2175,235  DistToNext 0.000000
    Speed 3, FLAG 1
     time 36.49   tot 79.69
   [ 5]     qtv    move PORT_TURN   dir NORTH  loc 2175,235  DistToNext 60.000000
    Speed 3, FLAG 1
     time  0.00   tot 79.69
   [ 6]     qtv    move FORWARD   dir NORTH  loc 2175,295  DistToNext 0.000000
    Speed 2, FLAG 1
     time 54.00   tot 133.69
   [ 7]     qtv    move PORT_TURN   dir NORTH_WEST  loc 2175,295  DistToNext 0.000000
    Speed 2, FLAG 1
     time  0.00   tot 133.69
   [ 8]     qtv    move PORT_TURN   dir WEST  loc 2175,295  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot 133.69
   [ 9]     qtv    move FORWARD   dir WEST  loc 2115,295  DistToNext 0.000000
    Speed 2, FLAG 1
     time 54.00   tot 187.69
   [10]     qtv    move STBD_TURN   dir NORTH_WEST  loc 2115,295  DistToNext -2.135196
    Speed 2, FLAG 1
     time  0.00   tot 187.69
   [11]     qtv    move FORWARD   dir NORTH_WEST  loc 2116,294  DistToNext 0.000000
    Speed -1, FLAG 1
     time -7.69   tot 180.00
   [12]     qtv    move STBD_TURN   dir NORTH  loc 2116,294  DistToNext -2.135196
    Speed 0, FLAG 1
     time  0.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move STBD_TURN   dir SOUTH_EAST  loc 783,647  DistToNext 50.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir SOUTH_EAST  loc 818,612  DistToNext 0.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
   [ 2]     qtv    move STBD_TURN   dir SOUTH  loc 818,612  DistToNext 50.000000
    Speed 0, FLAG 1
     time  0.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move PORT_TURN   dir NORTH  loc 1580,826  DistToNext 50.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir NORTH  loc 1615,791  DistToNext 50.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir NORTH  loc 3354,-2079  DistToNext 0.000000
    Speed 2, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move STBD_TURN   dir NORTH_EAST  loc 3354,-2079  DistToNext 59.396969
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move FORWARD   dir NORTH_EAST  loc 3396,-2037  DistToNext 0.000000
    Speed 3, FLAG 1
     time 35.64   tot 35.64
   [ 3]     qtv    move STBD_TURN   dir EAST  loc 3396,-2037  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot 35.64
   [ 4]     qtv    move FORWARD   dir EAST  loc 3456,-2037  DistToNext 0.000000
    Speed 5, FLAG 1
     time 21.60   tot 57.24
   [ 5]     qtv    move STBD_TURN   dir SOUTH_EAST  loc 3456,-2037  DistToNext 59.396969
    Speed 0, FLAG 1
     time  0.00   tot 57.24
   [ 6]     qtv    move FORWARD   dir SOUTH_EAST  loc 3498,-2079  DistToNext 0.000000
    Speed 4, FLAG 1
     time 26.73   tot 83.97
   [ 7]     qtv    move STBD_TURN   dir SOUTH  loc 3498,-2079  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot 83.97
   [ 8]     qtv    move FORWARD   dir SOUTH  loc 3498,-2139  DistToNext 0.000000
    Speed 5, FLAG 1
     time 21.60   tot 105.57
   [ 9]     qtv    move STBD_TURN   dir SOUTH_WEST  loc 3498,-2139  DistToNext 59.396969
    Speed 0, FLAG 1
     time  0.00   tot 105.57
   [10]     qtv    move FORWARD   dir SOUTH_WEST  loc 3456,-2181  DistToNext 0.000000
    Speed 3, FLAG 1
     time 35.64   tot 141.20
   [11]     qtv    move STBD_TURN   dir WEST  loc 3456,-2181  DistToNext 42.000000
    Speed 0, FLAG 1
     time  0.00   tot 141.20
   [12]     qtv    move FORWARD   dir WEST  loc 3414,-2181  DistToNext 25.000000
    Speed 2, FLAG 1
     time 37.80   tot 179.00
   [13]     qtv    move FORWARD   dir WEST  loc 3439,-2181  DistToNext 0.000000
    Speed 2, FLAG 2
     time 22.50   tot 201.50
  End Path <===
* ==> Start Path
   [ 0]     qtv    move PORT_TURN   dir NORTH  loc 1968,148  DistToNext 50.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir NORTH  loc 2003,113  DistToNext 50.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move STBD_TURN   dir SOUTH  loc 2084,221  DistToNext 50.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir SOUTH  loc 2119,186  DistToNext 0.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
   [ 2]     qtv    move PORT_TURN   dir SOUTH_EAST  loc 2119,186  DistToNext 50.000000
    Speed 0, FLAG 1
     time  0.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move STBD_TURN   dir SOUTH_WEST  loc 2014,-450  DistToNext 50.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir SOUTH_WEST  loc 2049,-485  DistToNext 0.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
   [ 2]     qtv    move STBD_TURN   dir WEST  loc 2049,-485  DistToNext 50.000000
    Speed 0, FLAG 1
     time  0.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move STBD_TURN   dir SOUTH_EAST  loc 1717,166  DistToNext 50.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir SOUTH_EAST  loc 1752,131  DistToNext 50.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir SOUTH_EAST  loc 2320,-1562  DistToNext 50.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir SOUTH_EAST  loc 2355,-1597  DistToNext 0.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
   [ 2]     qtv    move PORT_TURN   dir EAST  loc 2355,-1597  DistToNext 50.000000
    Speed 0, FLAG 1
     time  0.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir NORTH  loc 3525,-2191  DistToNext 0.000000
    Speed 2, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move STBD_TURN   dir NORTH_EAST  loc 3525,-2191  DistToNext 59.396969
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move FORWARD   dir NORTH_EAST  loc 3567,-2149  DistToNext 0.000000
    Speed 3, FLAG 1
     time 35.64   tot 35.64
   [ 3]     qtv    move STBD_TURN   dir EAST  loc 3567,-2149  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot 35.64
   [ 4]     qtv    move FORWARD   dir EAST  loc 3627,-2149  DistToNext 0.000000
    Speed 5, FLAG 1
     time 21.60   tot 57.24
   [ 5]     qtv    move STBD_TURN   dir SOUTH_EAST  loc 3627,-2149  DistToNext 59.396969
    Speed 0, FLAG 1
     time  0.00   tot 57.24
   [ 6]     qtv    move FORWARD   dir SOUTH_EAST  loc 3669,-2191  DistToNext 0.000000
    Speed 4, FLAG 1
     time 26.73   tot 83.97
   [ 7]     qtv    move STBD_TURN   dir SOUTH  loc 3669,-2191  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot 83.97
   [ 8]     qtv    move FORWARD   dir SOUTH  loc 3669,-2251  DistToNext 0.000000
    Speed 5, FLAG 1
     time 21.60   tot 105.57
   [ 9]     qtv    move STBD_TURN   dir SOUTH_WEST  loc 3669,-2251  DistToNext 59.396969
    Speed 0, FLAG 1
     time  0.00   tot 105.57
   [10]     qtv    move FORWARD   dir SOUTH_WEST  loc 3627,-2293  DistToNext 0.000000
    Speed 3, FLAG 1
     time 35.64   tot 141.20
   [11]     qtv    move STBD_TURN   dir WEST  loc 3627,-2293  DistToNext 42.000000
    Speed 0, FLAG 1
     time  0.00   tot 141.20
   [12]     qtv    move FORWARD   dir WEST  loc 3585,-2293  DistToNext 25.000000
    Speed 2, FLAG 1
     time 37.80   tot 179.00
   [13]     qtv    move FORWARD   dir WEST  loc 3610,-2293  DistToNext 0.000000
    Speed 2, FLAG 2
     time 22.50   tot 201.50
  End Path <===
* ==> Start Path
   [ 0]     qtv    move PORT_TURN   dir EAST  loc 1664,834  DistToNext 50.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir EAST  loc 1699,799  DistToNext 0.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
   [ 2]     qtv    move PORT_TURN   dir NORTH_EAST  loc 1699,799  DistToNext 50.000000
    Speed 0, FLAG 1
     time  0.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move PORT_TURN   dir NORTH_EAST  loc 1957,-225  DistToNext 50.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir NORTH_EAST  loc 1992,-260  DistToNext 0.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
   [ 2]     qtv    move STBD_TURN   dir EAST  loc 1992,-260  DistToNext 50.000000
    Speed 0, FLAG 1
     time  0.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir WEST  loc 3324,-1179  DistToNext 0.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move PORT_TURN   dir SOUTH_WEST  loc 3324,-1179  DistToNext 59.396969
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move FORWARD   dir SOUTH_WEST  loc 3282,-1221  DistToNext 0.000000
    Speed 3, FLAG 1
     time 35.64   tot 35.64
   [ 3]     qtv    move PORT_TURN   dir SOUTH  loc 3282,-1221  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot 35.64
   [ 4]     qtv    move FORWARD   dir SOUTH  loc 3282,-1281  DistToNext 0.000000
    Speed 4, FLAG 1
     time 27.00   tot 62.64
   [ 5]     qtv    move PORT_TURN   dir SOUTH_EAST  loc 3282,-1281  DistToNext 59.396969
    Speed 0, FLAG 1
     time  0.00   tot 62.64
   [ 6]     qtv    move FORWARD   dir SOUTH_EAST  loc 3324,-1323  DistToNext 0.000000
    Speed 4, FLAG 1
     time 26.73   tot 89.37
   [ 7]     qtv    move PORT_TURN   dir EAST  loc 3324,-1323  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot 89.37
   [ 8]     qtv    move FORWARD   dir EAST  loc 3384,-1323  DistToNext 0.000000
    Speed 4, FLAG 1
     time 27.00   tot 116.37
   [ 9]     qtv    move PORT_TURN   dir NORTH_EAST  loc 3384,-1323  DistToNext 59.396969
    Speed 0, FLAG 1
     time  0.00   tot 116.37
   [10]     qtv    move FORWARD   dir NORTH_EAST  loc 3426,-1281  DistToNext 0.000000
    Speed 3, FLAG 1
     time 35.64   tot 152.00
   [11]     qtv    move PORT_TURN   dir NORTH  loc 3426,-1281  DistToNext 15.000000
    Speed 0, FLAG 1
     time  0.00   tot 152.00
   [12]     qtv    move FORWARD   dir NORTH  loc 3426,-1266  DistToNext 29.000000
    Speed 1, FLAG 1
     time 27.00   tot 179.00
   [13]     qtv    move FORWARD   dir NORTH  loc 3426,-1237  DistToNext 0.000000
    Speed 1, FLAG 2
     time 52.20   tot 231.20
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir SOUTH_EAST  loc 2435,-1987  DistToNext 0.000000
    Speed 2, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move STBD_TURN   dir SOUTH  loc 2435,-1987  DistToNext 140.000000
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move FORWARD   dir SOUTH  loc 2435,-2127  DistToNext 0.000000
    Speed 2, FLAG 1
     time 126.00   tot 126.00
   [ 3]     qtv    move STBD_TURN   dir SOUTH_WEST  loc 2435,-2127  DistToNext 29.698484
    Speed 0, FLAG 1
     time  0.00   tot 126.00
   [ 4]     qtv    move FORWARD   dir SOUTH_WEST  loc 2414,-2148  DistToNext 9.899495
    Speed 1, FLAG 1
     time 53.46   tot 179.46
   [ 5]     qtv    move FORWARD   dir SOUTH_WEST  loc 2407,-2155  DistToNext 0.000000
    Speed 1, FLAG 2
     time 17.82   tot 197.27
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir NORTH  loc 1682,146  DistToNext 0.000000
    Speed 2, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move STBD_TURN   dir NORTH_EAST  loc 1682,146  DistToNext 69.296463
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move FORWARD   dir NORTH_EAST  loc 1731,195  DistToNext 0.000000
    Speed 4, FLAG 1
     time 31.18   tot 31.18
   [ 3]     qtv    move STBD_TURN   dir EAST  loc 1731,195  DistToNext 70.000000
    Speed 0, FLAG 1
     time  0.00   tot 31.18
   [ 4]     qtv    move FORWARD   dir EAST  loc 1801,195  DistToNext 0.000000
    Speed 6, FLAG 1
     time 21.00   tot 52.18
   [ 5]     qtv    move STBD_TURN   dir SOUTH_EAST  loc 1801,195  DistToNext 353.553406
    Speed 0, FLAG 1
     time  0.00   tot 52.18
   [ 6]     qtv    move FORWARD   dir SOUTH_EAST  loc 2051,-55  DistToNext 0.000000
    Speed 5, FLAG 1
     time 127.28   tot 179.46
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir EAST  loc 1764,129  DistToNext 0.000000
    Speed 3, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move STBD_TURN   dir SOUTH_EAST  loc 1764,129  DistToNext 199.404114
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move FORWARD   dir SOUTH_EAST  loc 1905,-12  DistToNext 0.000000
    Speed 2, FLAG 1
     time 179.46   tot 179.46
  End Path <===
* ==> Start Path
   [ 0]     qtv    move STBD_TURN   dir EAST  loc 1805,-204  DistToNext 50.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir EAST  loc 1840,-239  DistToNext 0.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
   [ 2]     qtv    move STBD_TURN   dir SOUTH_EAST  loc 1840,-239  DistToNext 50.000000
    Speed 0, FLAG 1
     time  0.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir SOUTH_WEST  loc 3469,-299  DistToNext 0.000000
    Speed 3, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move PORT_TURN   dir SOUTH  loc 3469,-299  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move FORWARD   dir SOUTH  loc 3469,-359  DistToNext 0.000000
    Speed 5, FLAG 1
     time 21.60   tot 21.60
   [ 3]     qtv    move PORT_TURN   dir SOUTH_EAST  loc 3469,-359  DistToNext 59.396969
    Speed 0, FLAG 1
     time  0.00   tot 21.60
   [ 4]     qtv    move FORWARD   dir SOUTH_EAST  loc 3511,-401  DistToNext 0.000000
    Speed 4, FLAG 1
     time 26.73   tot 48.33
   [ 5]     qtv    move PORT_TURN   dir EAST  loc 3511,-401  DistToNext 120.000000
    Speed 0, FLAG 1
     time  0.00   tot 48.33
   [ 6]     qtv    move FORWARD   dir EAST  loc 3631,-401  DistToNext 0.000000
    Speed 5, FLAG 1
     time 43.20   tot 91.53
   [ 7]     qtv    move PORT_TURN   dir NORTH_EAST  loc 3631,-401  DistToNext 60.811184
    Speed 0, FLAG 1
     time  0.00   tot 91.53
   [ 8]     qtv    move FORWARD   dir NORTH_EAST  loc 3674,-358  DistToNext 0.000000
    Speed 3, FLAG 1
     time 36.49   tot 128.01
   [ 9]     qtv    move PORT_TURN   dir NORTH  loc 3674,-358  DistToNext 60.000000
    Speed 3, FLAG 1
     time  0.00   tot 128.01
   [10]     qtv    move FORWARD   dir NORTH  loc 3674,-298  DistToNext 0.000000
    Speed 1, FLAG 1
     time 108.00   tot 236.01
   [11]     qtv    move PORT_TURN   dir NORTH_WEST  loc 3674,-298  DistToNext 0.000000
    Speed 1, FLAG 1
     time  0.00   tot 236.01
   [12]     qtv    move PORT_TURN   dir WEST  loc 3674,-298  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot 236.01
   [13]     qtv    move FORWARD   dir WEST  loc 3614,-298  DistToNext 0.000000
    Speed 1, FLAG 1
     time 108.00   tot 344.01
   [14]     qtv    move STBD_TURN   dir NORTH_WEST  loc 3614,-298  DistToNext -45.559822
    Speed 1, FLAG 1
     time  0.00   tot 344.01
   [15]     qtv    move FORWARD   dir NORTH_WEST  loc 3646,-330  DistToNext 0.000000
    Speed -1, FLAG 1
     time -164.02   tot 180.00
   [16]     qtv    move PORT_TURN   dir WEST  loc 3646,-330  DistToNext -45.559822
    Speed 0, FLAG 1
     time  0.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move PORT_TURN   dir NORTH  loc 3829,708  DistToNext 100.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir NORTH  loc 3829,808  DistToNext 0.000000
    Speed 1, FLAG 1
     time 180.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir SOUTH_EAST  loc 1979,-243  DistToNext 0.000000
    Speed 5, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move PORT_TURN   dir EAST  loc 1979,-243  DistToNext 60.000000
    Speed 5, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move FORWARD   dir EAST  loc 2039,-243  DistToNext 0.000000
    Speed 6, FLAG 1
     time 18.00   tot 18.00
   [ 3]     qtv    move PORT_TURN   dir NORTH_EAST  loc 2039,-243  DistToNext 60.811184
    Speed 6, FLAG 1
     time  0.00   tot 18.00
   [ 4]     qtv    move FORWARD   dir NORTH_EAST  loc 2082,-200  DistToNext 0.000000
    Speed 4, FLAG 1
     time 27.36   tot 45.36
   [ 5]     qtv    move PORT_TURN   dir NORTH  loc 2082,-200  DistToNext 0.000000
    Speed 4, FLAG 1
     time  0.00   tot 45.36
   [ 6]     qtv    move PORT_TURN   dir NORTH_WEST  loc 2082,-200  DistToNext 60.811184
    Speed 0, FLAG 1
     time  0.00   tot 45.36
   [ 7]     qtv    move FORWARD   dir NORTH_WEST  loc 2039,-157  DistToNext 0.000000
    Speed 4, FLAG 1
     time 27.36   tot 72.73
   [ 8]     qtv    move PORT_TURN   dir WEST  loc 2039,-157  DistToNext 119.000000
    Speed 4, FLAG 1
     time  0.00   tot 72.73
   [ 9]     qtv    move FORWARD   dir WEST  loc 1920,-157  DistToNext 0.000000
    Speed 2, FLAG 1
     time 107.10   tot 179.83
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir EAST  loc 3370,534  DistToNext 120.000000
    Speed 4, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir EAST  loc 3490,534  DistToNext 0.000000
    Speed 4, FLAG 1
     time 54.00   tot 54.00
   [ 2]     qtv    move PORT_TURN   dir NORTH_EAST  loc 3490,534  DistToNext 60.811184
    Speed 0, FLAG 1
     time  0.00   tot 54.00
   [ 3]     qtv    move FORWARD   dir NORTH_EAST  loc 3533,577  DistToNext 0.000000
    Speed 2, FLAG 1
     time 54.73   tot 108.73
   [ 4]     qtv    move PORT_TURN   dir NORTH  loc 3533,577  DistToNext 60.000000
    Speed 2, FLAG 1
     time  0.00   tot 108.73
   [ 5]     qtv    move FORWARD   dir NORTH  loc 3533,637  DistToNext 0.000000
    Speed 1, FLAG 1
     time 108.00   tot 216.73
   [ 6]     qtv    move PORT_TURN   dir NORTH_WEST  loc 3533,637  DistToNext 0.000000
    Speed 1, FLAG 1
     time  0.00   tot 216.73
   [ 7]     qtv    move PORT_TURN   dir WEST  loc 3533,637  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot 216.73
   [ 8]     qtv    move FORWARD   dir WEST  loc 3473,637  DistToNext 0.000000
    Speed 1, FLAG 1
     time 108.00   tot 324.73
   [ 9]     qtv    move STBD_TURN   dir NORTH_WEST  loc 3473,637  DistToNext -40.202789
    Speed 1, FLAG 1
     time  0.00   tot 324.73
   [10]     qtv    move FORWARD   dir NORTH_WEST  loc 3501,609  DistToNext -40.202789
    Speed -1, FLAG 1
     time -144.73   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir SOUTH_EAST  loc 2332,181  DistToNext 0.000000
    Speed 4, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move PORT_TURN   dir EAST  loc 2332,181  DistToNext 120.000000
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move FORWARD   dir EAST  loc 2452,181  DistToNext 0.000000
    Speed 5, FLAG 1
     time 43.20   tot 43.20
   [ 3]     qtv    move PORT_TURN   dir NORTH_EAST  loc 2452,181  DistToNext 60.811184
    Speed 0, FLAG 1
     time  0.00   tot 43.20
   [ 4]     qtv    move FORWARD   dir NORTH_EAST  loc 2495,224  DistToNext 0.000000
    Speed 3, FLAG 1
     time 36.49   tot 79.69
   [ 5]     qtv    move PORT_TURN   dir NORTH  loc 2495,224  DistToNext 60.000000
    Speed 3, FLAG 1
     time  0.00   tot 79.69
   [ 6]     qtv    move FORWARD   dir NORTH  loc 2495,284  DistToNext 0.000000
    Speed 1, FLAG 1
     time 108.00   tot 187.69
   [ 7]     qtv    move PORT_TURN   dir NORTH_WEST  loc 2495,284  DistToNext 0.000000
    Speed 1, FLAG 1
     time  0.00   tot 187.69
   [ 8]     qtv    move PORT_TURN   dir WEST  loc 2495,284  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot 187.69
   [ 9]     qtv    move FORWARD   dir WEST  loc 2435,284  DistToNext 0.000000
    Speed 1, FLAG 1
     time 108.00   tot 295.68
   [10]     qtv    move STBD_TURN   dir NORTH_WEST  loc 2435,284  DistToNext -32.135197
    Speed 1, FLAG 1
     time  0.00   tot 295.68
   [11]     qtv    move FORWARD   dir NORTH_WEST  loc 2457,262  DistToNext 0.000000
    Speed -1, FLAG 1
     time -115.69   tot 180.00
   [12]     qtv    move PORT_TURN   dir WEST  loc 2457,262  DistToNext -32.135197
    Speed 0, FLAG 1
     time  0.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir SOUTH  loc 2804,602  DistToNext 0.000000
    Speed 3, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move PORT_TURN   dir SOUTH_EAST  loc 2804,602  DistToNext 59.396969
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move FORWARD   dir SOUTH_EAST  loc 2846,560  DistToNext 0.000000
    Speed 2, FLAG 1
     time 53.46   tot 53.46
   [ 3]     qtv    move PORT_TURN   dir EAST  loc 2846,560  DistToNext 120.000000
    Speed 0, FLAG 1
     time  0.00   tot 53.46
   [ 4]     qtv    move FORWARD   dir EAST  loc 2966,560  DistToNext 0.000000
    Speed 3, FLAG 1
     time 72.00   tot 125.46
   [ 5]     qtv    move PORT_TURN   dir NORTH_EAST  loc 2966,560  DistToNext 60.811184
    Speed 0, FLAG 1
     time  0.00   tot 125.46
   [ 6]     qtv    move FORWARD   dir NORTH_EAST  loc 3009,603  DistToNext 0.000000
    Speed 1, FLAG 1
     time 109.46   tot 234.92
   [ 7]     qtv    move PORT_TURN   dir NORTH  loc 3009,603  DistToNext 60.000000
    Speed 1, FLAG 1
     time  0.00   tot 234.92
   [ 8]     qtv    move FORWARD   dir NORTH  loc 3009,663  DistToNext 0.000000
    Speed 1, FLAG 1
     time 108.00   tot 342.91
   [ 9]     qtv    move PORT_TURN   dir NORTH_WEST  loc 3009,663  DistToNext 0.000000
    Speed 1, FLAG 1
     time  0.00   tot 342.91
   [10]     qtv    move PORT_TURN   dir WEST  loc 3009,663  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot 342.91
   [11]     qtv    move FORWARD   dir WEST  loc 2949,663  DistToNext 0.000000
    Speed 1, FLAG 1
     time 108.00   tot 450.91
   [12]     qtv    move STBD_TURN   dir NORTH_WEST  loc 2949,663  DistToNext -75.254829
    Speed 1, FLAG 1
     time  0.00   tot 450.91
   [13]     qtv    move FORWARD   dir NORTH_WEST  loc 3002,610  DistToNext 0.000000
    Speed -1, FLAG 1
     time -270.92   tot 180.00
   [14]     qtv    move STBD_TURN   dir NORTH  loc 3002,610  DistToNext -75.254829
    Speed 0, FLAG 1
     time  0.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir EAST  loc 2094,161  DistToNext 120.000000
    Speed 5, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir EAST  loc 2214,161  DistToNext 0.000000
    Speed 5, FLAG 1
     time 43.20   tot 43.20
   [ 2]     qtv    move PORT_TURN   dir NORTH_EAST  loc 2214,161  DistToNext 60.811184
    Speed 0, FLAG 1
     time  0.00   tot 43.20
   [ 3]     qtv    move FORWARD   dir NORTH_EAST  loc 2257,204  DistToNext 0.000000
    Speed 3, FLAG 1
     time 36.49   tot 79.69
   [ 4]     qtv    move PORT_TURN   dir NORTH  loc 2257,204  DistToNext 60.000000
    Speed 3, FLAG 1
     time  0.00   tot 79.69
   [ 5]     qtv    move FORWARD   dir NORTH  loc 2257,264  DistToNext 0.000000
    Speed 2, FLAG 1
     time 54.00   tot 133.69
   [ 6]     qtv    move PORT_TURN   dir NORTH_WEST  loc 2257,264  DistToNext 0.000000
    Speed 2, FLAG 1
     time  0.00   tot 133.69
   [ 7]     qtv    move PORT_TURN   dir WEST  loc 2257,264  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot 133.69
   [ 8]     qtv    move FORWARD   dir WEST  loc 2197,264  DistToNext 0.000000
    Speed 2, FLAG 1
     time 54.00   tot 187.69
   [ 9]     qtv    move STBD_TURN   dir NORTH_WEST  loc 2197,264  DistToNext -2.135196
    Speed 2, FLAG 1
     time  0.00   tot 187.69
   [10]     qtv    move FORWARD   dir NORTH_WEST  loc 2198,263  DistToNext 0.000000
    Speed -1, FLAG 1
     time -7.69   tot 180.00
   [11]     qtv    move PORT_TURN   dir WEST  loc 2198,263  DistToNext -2.135196
    Speed 0, FLAG 1
     time  0.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move STBD_TURN   dir SOUTH  loc 818,612  DistToNext 50.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir SOUTH  loc 853,577  DistToNext 0.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
   [ 2]     qtv    move PORT_TURN   dir SOUTH_EAST  loc 853,577  DistToNext 50.000000
    Speed 0, FLAG 1
     time  0.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir NORTH  loc 1615,791  DistToNext 50.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir NORTH  loc 1650,756  DistToNext 50.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir WEST  loc 3414,-2181  DistToNext 0.000000
    Speed 2, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move PORT_TURN   dir SOUTH_WEST  loc 3414,-2181  DistToNext 59.396969
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move FORWARD   dir SOUTH_WEST  loc 3372,-2223  DistToNext 0.000000
    Speed 3, FLAG 1
     time 35.64   tot 35.64
   [ 3]     qtv    move PORT_TURN   dir SOUTH  loc 3372,-2223  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot 35.64
   [ 4]     qtv    move FORWARD   dir SOUTH  loc 3372,-2283  DistToNext 0.000000
    Speed 5, FLAG 1
     time 21.60   tot 57.24
   [ 5]     qtv    move PORT_TURN   dir SOUTH_EAST  loc 3372,-2283  DistToNext 59.396969
    Speed 0, FLAG 1
     time  0.00   tot 57.24
   [ 6]     qtv    move FORWARD   dir SOUTH_EAST  loc 3414,-2325  DistToNext 0.000000
    Speed 4, FLAG 1
     time 26.73   tot 83.97
   [ 7]     qtv    move PORT_TURN   dir EAST  loc 3414,-2325  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot 83.97
   [ 8]     qtv    move FORWARD   dir EAST  loc 3474,-2325  DistToNext 0.000000
    Speed 5, FLAG 1
     time 21.60   tot 105.57
   [ 9]     qtv    move PORT_TURN   dir NORTH_EAST  loc 3474,-2325  DistToNext 59.396969
    Speed 0, FLAG 1
     time  0.00   tot 105.57
   [10]     qtv    move FORWARD   dir NORTH_EAST  loc 3516,-2283  DistToNext 0.000000
    Speed 3, FLAG 1
     time 35.64   tot 141.20
   [11]     qtv    move PORT_TURN   dir NORTH  loc 3516,-2283  DistToNext 42.000000
    Speed 0, FLAG 1
     time  0.00   tot 141.20
   [12]     qtv    move FORWARD   dir NORTH  loc 3516,-2241  DistToNext 25.000000
    Speed 2, FLAG 1
     time 37.80   tot 179.00
   [13]     qtv    move FORWARD   dir NORTH  loc 3516,-2266  DistToNext 0.000000
    Speed 2, FLAG 2
     time 22.50   tot 201.50
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir NORTH  loc 2003,113  DistToNext 50.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir NORTH  loc 2038,78  DistToNext 50.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir SOUTH  loc 2126,179  DistToNext 50.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir SOUTH  loc 2161,144  DistToNext 50.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move STBD_TURN   dir WEST  loc 2049,-485  DistToNext 50.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir WEST  loc 2084,-520  DistToNext 0.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
   [ 2]     qtv    move PORT_TURN   dir SOUTH_WEST  loc 2084,-520  DistToNext 50.000000
    Speed 0, FLAG 1
     time  0.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir SOUTH_EAST  loc 1662,221  DistToNext 50.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir SOUTH_EAST  loc 1697,186  DistToNext 0.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
   [ 2]     qtv    move STBD_TURN   dir SOUTH  loc 1697,186  DistToNext 50.000000
    Speed 0, FLAG 1
     time  0.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move PORT_TURN   dir EAST  loc 2355,-1597  DistToNext 50.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir EAST  loc 2390,-1632  DistToNext 0.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
   [ 2]     qtv    move STBD_TURN   dir SOUTH_EAST  loc 2390,-1632  DistToNext 50.000000
    Speed 0, FLAG 1
     time  0.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir WEST  loc 3585,-2293  DistToNext 0.000000
    Speed 2, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move PORT_TURN   dir SOUTH_WEST  loc 3585,-2293  DistToNext 59.396969
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move FORWARD   dir SOUTH_WEST  loc 3543,-2335  DistToNext 0.000000
    Speed 3, FLAG 1
     time 35.64   tot 35.64
   [ 3]     qtv    move PORT_TURN   dir SOUTH  loc 3543,-2335  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot 35.64
   [ 4]     qtv    move FORWARD   dir SOUTH  loc 3543,-2395  DistToNext 0.000000
    Speed 5, FLAG 1
     time 21.60   tot 57.24
   [ 5]     qtv    move PORT_TURN   dir SOUTH_EAST  loc 3543,-2395  DistToNext 59.396969
    Speed 0, FLAG 1
     time  0.00   tot 57.24
   [ 6]     qtv    move FORWARD   dir SOUTH_EAST  loc 3585,-2437  DistToNext 0.000000
    Speed 4, FLAG 1
     time 26.73   tot 83.97
   [ 7]     qtv    move PORT_TURN   dir EAST  loc 3585,-2437  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot 83.97
   [ 8]     qtv    move FORWARD   dir EAST  loc 3645,-2437  DistToNext 0.000000
    Speed 5, FLAG 1
     time 21.60   tot 105.57
   [ 9]     qtv    move PORT_TURN   dir NORTH_EAST  loc 3645,-2437  DistToNext 59.396969
    Speed 0, FLAG 1
     time  0.00   tot 105.57
   [10]     qtv    move FORWARD   dir NORTH_EAST  loc 3687,-2395  DistToNext 0.000000
    Speed 3, FLAG 1
     time 35.64   tot 141.20
   [11]     qtv    move PORT_TURN   dir NORTH  loc 3687,-2395  DistToNext 42.000000
    Speed 0, FLAG 1
     time  0.00   tot 141.20
   [12]     qtv    move FORWARD   dir NORTH  loc 3687,-2353  DistToNext 25.000000
    Speed 2, FLAG 1
     time 37.80   tot 179.00
   [13]     qtv    move FORWARD   dir NORTH  loc 3687,-2378  DistToNext 0.000000
    Speed 2, FLAG 2
     time 22.50   tot 201.50
  End Path <===
* ==> Start Path
   [ 0]     qtv    move PORT_TURN   dir NORTH_EAST  loc 1699,799  DistToNext 50.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir NORTH_EAST  loc 1734,764  DistToNext 0.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
   [ 2]     qtv    move PORT_TURN   dir NORTH  loc 1734,764  DistToNext 50.000000
    Speed 0, FLAG 1
     time  0.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move STBD_TURN   dir EAST  loc 1902,-170  DistToNext 50.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir EAST  loc 1937,-205  DistToNext 0.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
   [ 2]     qtv    move PORT_TURN   dir NORTH_EAST  loc 1937,-205  DistToNext 50.000000
    Speed 0, FLAG 1
     time  0.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir NORTH  loc 3426,-1266  DistToNext 0.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move STBD_TURN   dir NORTH_EAST  loc 3426,-1266  DistToNext 59.396969
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move FORWARD   dir NORTH_EAST  loc 3468,-1224  DistToNext 0.000000
    Speed 3, FLAG 1
     time 35.64   tot 35.64
   [ 3]     qtv    move STBD_TURN   dir EAST  loc 3468,-1224  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot 35.64
   [ 4]     qtv    move FORWARD   dir EAST  loc 3528,-1224  DistToNext 0.000000
    Speed 4, FLAG 1
     time 27.00   tot 62.64
   [ 5]     qtv    move STBD_TURN   dir SOUTH_EAST  loc 3528,-1224  DistToNext 118.793938
    Speed 0, FLAG 1
     time  0.00   tot 62.64
   [ 6]     qtv    move FORWARD   dir SOUTH_EAST  loc 3612,-1308  DistToNext 0.000000
    Speed 4, FLAG 1
     time 53.46   tot 116.09
   [ 7]     qtv    move STBD_TURN   dir SOUTH  loc 3612,-1308  DistToNext 120.000000
    Speed 0, FLAG 1
     time  0.00   tot 116.09
   [ 8]     qtv    move FORWARD   dir SOUTH  loc 3612,-1428  DistToNext 0.000000
    Speed 4, FLAG 1
     time 54.00   tot 170.09
   [ 9]     qtv    move STBD_TURN   dir SOUTH_WEST  loc 3612,-1428  DistToNext 14.142136
    Speed 0, FLAG 1
     time  0.00   tot 170.09
   [10]     qtv    move FORWARD   dir SOUTH_WEST  loc 3602,-1438  DistToNext 29.698484
    Speed 3, FLAG 1
     time  8.49   tot 178.58
   [11]     qtv    move FORWARD   dir SOUTH_WEST  loc 3581,-1459  DistToNext 0.000000
    Speed 3, FLAG 2
     time 17.82   tot 196.40
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir SOUTH_WEST  loc 2414,-2148  DistToNext 0.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move STBD_TURN   dir WEST  loc 2414,-2148  DistToNext 100.000000
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move FORWARD   dir WEST  loc 2314,-2148  DistToNext 0.000000
    Speed 1, FLAG 1
     time 180.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir EAST  loc 1757,165  DistToNext 0.000000
    Speed 6, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move STBD_TURN   dir SOUTH_EAST  loc 1757,165  DistToNext 499.217377
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move FORWARD   dir SOUTH_EAST  loc 2110,-188  DistToNext 0.000000
    Speed 5, FLAG 1
     time 179.72   tot 179.72
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir SOUTH_EAST  loc 1905,-12  DistToNext 199.404114
    Speed 2, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move BACK_SAIL   dir SOUTH_EAST  loc 2046,-153  DistToNext 0.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move FORWARD   dir SOUTH_EAST  loc 2046,-153  DistToNext 0.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 3]     qtv    move NO_DIRECTION   dir SOUTH_EAST  loc 2046,-153  DistToNext 0.000000
    Speed 0, FLAG 1
     time  0.00   tot  0.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move STBD_TURN   dir SOUTH_EAST  loc 1840,-239  DistToNext 50.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir SOUTH_EAST  loc 1875,-274  DistToNext 0.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
   [ 2]     qtv    move STBD_TURN   dir SOUTH  loc 1875,-274  DistToNext 50.000000
    Speed 0, FLAG 1
     time  0.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move PORT_TURN   dir NORTH  loc 3646,-330  DistToNext 100.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir NORTH  loc 3646,-230  DistToNext 21.000000
    Speed 1, FLAG 1
     time 180.00   tot 180.00
   [ 2]     qtv    move FORWARD   dir NORTH  loc 3646,-251  DistToNext 0.000000
    Speed 1, FLAG 2
     time 37.80   tot 217.80
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir NORTH  loc 3829,808  DistToNext 100.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir NORTH  loc 3829,908  DistToNext 0.000000
    Speed 1, FLAG 1
     time 180.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir WEST  loc 1920,-157  DistToNext 0.000000
    Speed 2, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move PORT_TURN   dir SOUTH_WEST  loc 1920,-157  DistToNext 59.396969
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move FORWARD   dir SOUTH_WEST  loc 1878,-199  DistToNext 0.000000
    Speed 4, FLAG 1
     time 26.73   tot 26.73
   [ 3]     qtv    move PORT_TURN   dir SOUTH  loc 1878,-199  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot 26.73
   [ 4]     qtv    move FORWARD   dir SOUTH  loc 1878,-259  DistToNext 0.000000
    Speed 6, FLAG 1
     time 18.00   tot 44.73
   [ 5]     qtv    move PORT_TURN   dir SOUTH_EAST  loc 1878,-259  DistToNext 374.766602
    Speed 0, FLAG 1
     time  0.00   tot 44.73
   [ 6]     qtv    move FORWARD   dir SOUTH_EAST  loc 2143,-524  DistToNext 0.000000
    Speed 5, FLAG 1
     time 134.91   tot 179.64
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir NORTH  loc 3501,609  DistToNext 100.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir NORTH  loc 3501,709  DistToNext 0.000000
    Speed 1, FLAG 1
     time 180.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move PORT_TURN   dir NORTH  loc 2457,262  DistToNext 60.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir NORTH  loc 2457,322  DistToNext 0.000000
    Speed 1, FLAG 1
     time 108.00   tot 108.00
   [ 2]     qtv    move STBD_TURN   dir NORTH_EAST  loc 2457,322  DistToNext 59.396969
    Speed 0, FLAG 1
     time  0.00   tot 108.00
   [ 3]     qtv    move FORWARD   dir NORTH_EAST  loc 2499,364  DistToNext 0.000000
    Speed 3, FLAG 1
     time 35.64   tot 143.64
   [ 4]     qtv    move STBD_TURN   dir EAST  loc 2499,364  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot 143.64
   [ 5]     qtv    move FORWARD   dir EAST  loc 2559,364  DistToNext 0.000000
    Speed 5, FLAG 1
     time 21.60   tot 165.24
   [ 6]     qtv    move STBD_TURN   dir SOUTH_EAST  loc 2559,364  DistToNext 31.112698
    Speed 0, FLAG 1
     time  0.00   tot 165.24
   [ 7]     qtv    move FORWARD   dir SOUTH_EAST  loc 2581,342  DistToNext 4.242640
    Speed 4, FLAG 1
     time 14.00   tot 179.24
   [ 8]     qtv    move FORWARD   dir SOUTH_EAST  loc 2578,345  DistToNext 0.000000
    Speed 4, FLAG 2
     time  1.91   tot 181.15
  End Path <===
* ==> Start Path
   [ 0]     qtv    move STBD_TURN   dir NORTH_EAST  loc 3002,610  DistToNext 59.396969
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir NORTH_EAST  loc 3044,652  DistToNext 0.000000
    Speed 1, FLAG 1
     time 106.91   tot 106.91
   [ 2]     qtv    move STBD_TURN   dir EAST  loc 3044,652  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot 106.91
   [ 3]     qtv    move FORWARD   dir EAST  loc 3104,652  DistToNext 0.000000
    Speed 3, FLAG 1
     time 36.00   tot 142.91
   [ 4]     qtv    move STBD_TURN   dir SOUTH_EAST  loc 3104,652  DistToNext 39.597980
    Speed 0, FLAG 1
     time  0.00   tot 142.91
   [ 5]     qtv    move FORWARD   dir SOUTH_EAST  loc 3132,624  DistToNext 19.798990
    Speed 2, FLAG 1
     time 35.64   tot 178.55
   [ 6]     qtv    move FORWARD   dir SOUTH_EAST  loc 3118,638  DistToNext 0.000000
    Speed 2, FLAG 2
     time 17.82   tot 196.37
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir EAST  loc 2128,127  DistToNext 0.000000
    Speed 5, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move STBD_TURN   dir SOUTH_EAST  loc 2128,127  DistToNext 398.808228
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move FORWARD   dir SOUTH_EAST  loc 2410,-155  DistToNext 0.000000
    Speed 4, FLAG 1
     time 179.46   tot 179.46
  End Path <===
* ==> Start Path
   [ 0]     qtv    move PORT_TURN   dir SOUTH_EAST  loc 853,577  DistToNext 50.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir SOUTH_EAST  loc 888,542  DistToNext 0.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
   [ 2]     qtv    move PORT_TURN   dir EAST  loc 888,542  DistToNext 50.000000
    Speed 0, FLAG 1
     time  0.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir NORTH  loc 1650,756  DistToNext 50.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir NORTH  loc 1685,721  DistToNext 0.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
   [ 2]     qtv    move STBD_TURN   dir NORTH_EAST  loc 1685,721  DistToNext 50.000000
    Speed 0, FLAG 1
     time  0.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir NORTH  loc 3516,-2241  DistToNext 0.000000
    Speed 2, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move STBD_TURN   dir NORTH_EAST  loc 3516,-2241  DistToNext 59.396969
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move FORWARD   dir NORTH_EAST  loc 3558,-2199  DistToNext 0.000000
    Speed 3, FLAG 1
     time 35.64   tot 35.64
   [ 3]     qtv    move STBD_TURN   dir EAST  loc 3558,-2199  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot 35.64
   [ 4]     qtv    move FORWARD   dir EAST  loc 3618,-2199  DistToNext 0.000000
    Speed 5, FLAG 1
     time 21.60   tot 57.24
   [ 5]     qtv    move STBD_TURN   dir SOUTH_EAST  loc 3618,-2199  DistToNext 59.396969
    Speed 0, FLAG 1
     time  0.00   tot 57.24
   [ 6]     qtv    move FORWARD   dir SOUTH_EAST  loc 3660,-2241  DistToNext 0.000000
    Speed 4, FLAG 1
     time 26.73   tot 83.97
   [ 7]     qtv    move STBD_TURN   dir SOUTH  loc 3660,-2241  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot 83.97
   [ 8]     qtv    move FORWARD   dir SOUTH  loc 3660,-2301  DistToNext 0.000000
    Speed 5, FLAG 1
     time 21.60   tot 105.57
   [ 9]     qtv    move STBD_TURN   dir SOUTH_WEST  loc 3660,-2301  DistToNext 59.396969
    Speed 0, FLAG 1
     time  0.00   tot 105.57
   [10]     qtv    move FORWARD   dir SOUTH_WEST  loc 3618,-2343  DistToNext 0.000000
    Speed 3, FLAG 1
     time 35.64   tot 141.20
   [11]     qtv    move STBD_TURN   dir WEST  loc 3618,-2343  DistToNext 42.000000
    Speed 0, FLAG 1
     time  0.00   tot 141.20
   [12]     qtv    move FORWARD   dir WEST  loc 3576,-2343  DistToNext 25.000000
    Speed 2, FLAG 1
     time 37.80   tot 179.00
   [13]     qtv    move FORWARD   dir WEST  loc 3601,-2343  DistToNext 0.000000
    Speed 2, FLAG 2
     time 22.50   tot 201.50
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir NORTH  loc 2038,78  DistToNext 50.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir NORTH  loc 2073,43  DistToNext 0.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
   [ 2]     qtv    move STBD_TURN   dir NORTH_EAST  loc 2073,43  DistToNext 50.000000
    Speed 0, FLAG 1
     time  0.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir SOUTH  loc 2160,145  DistToNext 50.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir SOUTH  loc 2195,110  DistToNext 50.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move PORT_TURN   dir SOUTH_WEST  loc 2084,-520  DistToNext 50.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir SOUTH_WEST  loc 2119,-555  DistToNext 0.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
   [ 2]     qtv    move PORT_TURN   dir SOUTH  loc 2119,-555  DistToNext 50.000000
    Speed 0, FLAG 1
     time  0.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir SOUTH_EAST  loc 1613,270  DistToNext 50.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir SOUTH_EAST  loc 1648,235  DistToNext 0.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
   [ 2]     qtv    move STBD_TURN   dir SOUTH  loc 1648,235  DistToNext 50.000000
    Speed 0, FLAG 1
     time  0.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move STBD_TURN   dir SOUTH_EAST  loc 2390,-1632  DistToNext 50.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir SOUTH_EAST  loc 2425,-1667  DistToNext 0.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
   [ 2]     qtv    move STBD_TURN   dir SOUTH  loc 2425,-1667  DistToNext 50.000000
    Speed 0, FLAG 1
     time  0.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir NORTH  loc 3687,-2353  DistToNext 0.000000
    Speed 2, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move STBD_TURN   dir NORTH_EAST  loc 3687,-2353  DistToNext 59.396969
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move FORWARD   dir NORTH_EAST  loc 3729,-2311  DistToNext 0.000000
    Speed 3, FLAG 1
     time 35.64   tot 35.64
   [ 3]     qtv    move STBD_TURN   dir EAST  loc 3729,-2311  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot 35.64
   [ 4]     qtv    move FORWARD   dir EAST  loc 3789,-2311  DistToNext 0.000000
    Speed 5, FLAG 1
     time 21.60   tot 57.24
   [ 5]     qtv    move STBD_TURN   dir SOUTH_EAST  loc 3789,-2311  DistToNext 59.396969
    Speed 0, FLAG 1
     time  0.00   tot 57.24
   [ 6]     qtv    move FORWARD   dir SOUTH_EAST  loc 3831,-2353  DistToNext 0.000000
    Speed 4, FLAG 1
     time 26.73   tot 83.97
   [ 7]     qtv    move STBD_TURN   dir SOUTH  loc 3831,-2353  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot 83.97
   [ 8]     qtv    move FORWARD   dir SOUTH  loc 3831,-2413  DistToNext 0.000000
    Speed 5, FLAG 1
     time 21.60   tot 105.57
   [ 9]     qtv    move STBD_TURN   dir SOUTH_WEST  loc 3831,-2413  DistToNext 59.396969
    Speed 0, FLAG 1
     time  0.00   tot 105.57
   [10]     qtv    move FORWARD   dir SOUTH_WEST  loc 3789,-2455  DistToNext 0.000000
    Speed 3, FLAG 1
     time 35.64   tot 141.20
   [11]     qtv    move STBD_TURN   dir WEST  loc 3789,-2455  DistToNext 42.000000
    Speed 0, FLAG 1
     time  0.00   tot 141.20
   [12]     qtv    move FORWARD   dir WEST  loc 3747,-2455  DistToNext 25.000000
    Speed 2, FLAG 1
     time 37.80   tot 179.00
   [13]     qtv    move FORWARD   dir WEST  loc 3772,-2455  DistToNext 0.000000
    Speed 2, FLAG 2
     time 22.50   tot 201.50
  End Path <===
* ==> Start Path
   [ 0]     qtv    move PORT_TURN   dir NORTH  loc 1734,764  DistToNext 50.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir NORTH  loc 1769,729  DistToNext 0.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
   [ 2]     qtv    move STBD_TURN   dir NORTH_EAST  loc 1769,729  DistToNext 50.000000
    Speed 0, FLAG 1
     time  0.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move PORT_TURN   dir NORTH_EAST  loc 1937,-205  DistToNext 50.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir NORTH_EAST  loc 1972,-240  DistToNext 0.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
   [ 2]     qtv    move PORT_TURN   dir NORTH  loc 1972,-240  DistToNext 50.000000
    Speed 0, FLAG 1
     time  0.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir SOUTH_WEST  loc 3602,-1438  DistToNext 0.000000
    Speed 3, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move PORT_TURN   dir SOUTH  loc 3602,-1438  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move FORWARD   dir SOUTH  loc 3602,-1498  DistToNext 0.000000
    Speed 4, FLAG 1
     time 27.00   tot 27.00
   [ 3]     qtv    move PORT_TURN   dir SOUTH_EAST  loc 3602,-1498  DistToNext 118.793938
    Speed 0, FLAG 1
     time  0.00   tot 27.00
   [ 4]     qtv    move FORWARD   dir SOUTH_EAST  loc 3686,-1582  DistToNext 0.000000
    Speed 4, FLAG 1
     time 53.46   tot 80.46
   [ 5]     qtv    move STBD_TURN   dir SOUTH  loc 3686,-1582  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot 80.46
   [ 6]     qtv    move FORWARD   dir SOUTH  loc 3686,-1642  DistToNext 0.000000
    Speed 4, FLAG 1
     time 27.00   tot 107.46
   [ 7]     qtv    move STBD_TURN   dir SOUTH_WEST  loc 3686,-1642  DistToNext 60.811184
    Speed 4, FLAG 1
     time  0.00   tot 107.46
   [ 8]     qtv    move FORWARD   dir SOUTH_WEST  loc 3643,-1685  DistToNext 0.000000
    Speed 3, FLAG 1
     time 36.49   tot 143.94
   [ 9]     qtv    move STBD_TURN   dir WEST  loc 3643,-1685  DistToNext 0.000000
    Speed 3, FLAG 1
     time  0.00   tot 143.94
   [10]     qtv    move STBD_TURN   dir NORTH_WEST  loc 3643,-1685  DistToNext 60.811184
    Speed 0, FLAG 1
     time  0.00   tot 143.94
   [11]     qtv    move FORWARD   dir NORTH_WEST  loc 3600,-1642  DistToNext 0.000000
    Speed 3, FLAG 1
     time 36.49   tot 180.43
   [12]     qtv    move STBD_TURN   dir NORTH  loc 3600,-1642  DistToNext 55.000000
    Speed 3, FLAG 1
     time  0.00   tot 180.43
   [13]     qtv    move FORWARD   dir NORTH  loc 3600,-1587  DistToNext 51.000000
    Speed 1, FLAG 1
     time 99.00   tot 279.43
   [14]     qtv    move FORWARD   dir NORTH  loc 3600,-1638  DistToNext 0.000000
    Speed 1, FLAG 2
     time 91.80   tot 371.23
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir WEST  loc 2314,-2148  DistToNext 100.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir WEST  loc 2214,-2148  DistToNext 0.000000
    Speed 1, FLAG 1
     time 180.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir SOUTH_EAST  loc 2110,-188  DistToNext 499.217377
    Speed 5, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir SOUTH_EAST  loc 2463,-541  DistToNext 0.000000
    Speed 5, FLAG 1
     time 179.72   tot 179.72
  End Path <===
* ==> Start Path
   [ 0]     qtv    move NO_DIRECTION   dir SOUTH_EAST  loc 2046,-153  DistToNext 98.994949
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir SOUTH_EAST  loc 2116,-223  DistToNext 0.000000
    Speed 1, FLAG 1
     time 178.19   tot 178.19
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir SOUTH_EAST  loc 1882,-281  DistToNext 50.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir SOUTH_EAST  loc 1917,-316  DistToNext 0.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
   [ 2]     qtv    move PORT_TURN   dir EAST  loc 1917,-316  DistToNext 50.000000
    Speed 0, FLAG 1
     time  0.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move PORT_TURN   dir NORTH  loc 3646,-230  DistToNext 100.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir NORTH  loc 3646,-130  DistToNext 21.000000
    Speed 1, FLAG 1
     time 180.00   tot 180.00
   [ 2]     qtv    move FORWARD   dir NORTH  loc 3646,-151  DistToNext 0.000000
    Speed 1, FLAG 2
     time 37.80   tot 217.80
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir NORTH  loc 3829,908  DistToNext 100.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir NORTH  loc 3829,1008  DistToNext 0.000000
    Speed 1, FLAG 1
     time 180.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir SOUTH  loc 1815,-170  DistToNext 0.000000
    Speed 6, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move PORT_TURN   dir SOUTH_EAST  loc 1815,-170  DistToNext 499.217377
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move FORWARD   dir SOUTH_EAST  loc 2168,-523  DistToNext 0.000000
    Speed 5, FLAG 1
     time 179.72   tot 179.72
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir NORTH  loc 3501,709  DistToNext 100.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir NORTH  loc 3501,809  DistToNext 0.000000
    Speed 1, FLAG 1
     time 180.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move PORT_TURN   dir SOUTH_EAST  loc 2581,342  DistToNext 398.808228
    Speed 4, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir SOUTH_EAST  loc 2863,60  DistToNext 0.000000
    Speed 4, FLAG 1
     time 179.46   tot 179.46
  End Path <===
* ==> Start Path
   [ 0]     qtv    move STBD_TURN   dir SOUTH_EAST  loc 3132,624  DistToNext 59.396969
    Speed 2, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir SOUTH_EAST  loc 3174,582  DistToNext 0.000000
    Speed 2, FLAG 1
     time 53.46   tot 53.46
   [ 2]     qtv    move STBD_TURN   dir SOUTH  loc 3174,582  DistToNext 210.000000
    Speed 0, FLAG 1
     time  0.00   tot 53.46
   [ 3]     qtv    move FORWARD   dir SOUTH  loc 3174,372  DistToNext 0.000000
    Speed 3, FLAG 1
     time 126.00   tot 179.46
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir SOUTH_EAST  loc 2162,93  DistToNext 398.808228
    Speed 4, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir SOUTH_EAST  loc 2444,-189  DistToNext 0.000000
    Speed 4, FLAG 1
     time 179.46   tot 179.46
  End Path <===
* ==> Start Path
   [ 0]     qtv    move PORT_TURN   dir EAST  loc 888,542  DistToNext 50.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir EAST  loc 923,507  DistToNext 0.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
   [ 2]     qtv    move STBD_TURN   dir SOUTH_EAST  loc 923,507  DistToNext 50.000000
    Speed 0, FLAG 1
     time  0.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move STBD_TURN   dir NORTH_EAST  loc 1685,721  DistToNext 50.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir NORTH_EAST  loc 1720,686  DistToNext 0.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
   [ 2]     qtv    move PORT_TURN   dir NORTH  loc 1720,686  DistToNext 50.000000
    Speed 0, FLAG 1
     time  0.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir WEST  loc 3576,-2343  DistToNext 0.000000
    Speed 2, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move PORT_TURN   dir SOUTH_WEST  loc 3576,-2343  DistToNext 59.396969
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move FORWARD   dir SOUTH_WEST  loc 3534,-2385  DistToNext 0.000000
    Speed 3, FLAG 1
     time 35.64   tot 35.64
   [ 3]     qtv    move PORT_TURN   dir SOUTH  loc 3534,-2385  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot 35.64
   [ 4]     qtv    move FORWARD   dir SOUTH  loc 3534,-2445  DistToNext 0.000000
    Speed 5, FLAG 1
     time 21.60   tot 57.24
   [ 5]     qtv    move PORT_TURN   dir SOUTH_EAST  loc 3534,-2445  DistToNext 59.396969
    Speed 0, FLAG 1
     time  0.00   tot 57.24
   [ 6]     qtv    move FORWARD   dir SOUTH_EAST  loc 3576,-2487  DistToNext 0.000000
    Speed 4, FLAG 1
     time 26.73   tot 83.97
   [ 7]     qtv    move PORT_TURN   dir EAST  loc 3576,-2487  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot 83.97
   [ 8]     qtv    move FORWARD   dir EAST  loc 3636,-2487  DistToNext 0.000000
    Speed 5, FLAG 1
     time 21.60   tot 105.57
   [ 9]     qtv    move PORT_TURN   dir NORTH_EAST  loc 3636,-2487  DistToNext 59.396969
    Speed 0, FLAG 1
     time  0.00   tot 105.57
   [10]     qtv    move FORWARD   dir NORTH_EAST  loc 3678,-2445  DistToNext 0.000000
    Speed 3, FLAG 1
     time 35.64   tot 141.20
   [11]     qtv    move PORT_TURN   dir NORTH  loc 3678,-2445  DistToNext 42.000000
    Speed 0, FLAG 1
     time  0.00   tot 141.20
   [12]     qtv    move FORWARD   dir NORTH  loc 3678,-2403  DistToNext 25.000000
    Speed 2, FLAG 1
     time 37.80   tot 179.00
   [13]     qtv    move FORWARD   dir NORTH  loc 3678,-2428  DistToNext 0.000000
    Speed 2, FLAG 2
     time 22.50   tot 201.50
  End Path <===
* ==> Start Path
   [ 0]     qtv    move STBD_TURN   dir NORTH_EAST  loc 2073,43  DistToNext 50.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir NORTH_EAST  loc 2108,8  DistToNext 50.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir SOUTH  loc 2104,201  DistToNext 50.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir SOUTH  loc 2139,166  DistToNext 0.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
   [ 2]     qtv    move PORT_TURN   dir SOUTH_EAST  loc 2139,166  DistToNext 50.000000
    Speed 0, FLAG 1
     time  0.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move PORT_TURN   dir SOUTH  loc 2119,-555  DistToNext 50.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir SOUTH  loc 2154,-590  DistToNext 0.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
   [ 2]     qtv    move PORT_TURN   dir SOUTH_EAST  loc 2154,-590  DistToNext 50.000000
    Speed 0, FLAG 1
     time  0.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move STBD_TURN   dir SOUTH  loc 1648,235  DistToNext 50.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir SOUTH  loc 1683,200  DistToNext 0.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
   [ 2]     qtv    move PORT_TURN   dir SOUTH_EAST  loc 1683,200  DistToNext 50.000000
    Speed 0, FLAG 1
     time  0.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move STBD_TURN   dir SOUTH  loc 2425,-1667  DistToNext 50.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir SOUTH  loc 2460,-1702  DistToNext 0.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
   [ 2]     qtv    move STBD_TURN   dir SOUTH_WEST  loc 2460,-1702  DistToNext 50.000000
    Speed 0, FLAG 1
     time  0.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir WEST  loc 3747,-2455  DistToNext 0.000000
    Speed 2, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move PORT_TURN   dir SOUTH_WEST  loc 3747,-2455  DistToNext 59.396969
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move FORWARD   dir SOUTH_WEST  loc 3705,-2497  DistToNext 0.000000
    Speed 3, FLAG 1
     time 35.64   tot 35.64
   [ 3]     qtv    move PORT_TURN   dir SOUTH  loc 3705,-2497  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot 35.64
   [ 4]     qtv    move FORWARD   dir SOUTH  loc 3705,-2557  DistToNext 0.000000
    Speed 5, FLAG 1
     time 21.60   tot 57.24
   [ 5]     qtv    move PORT_TURN   dir SOUTH_EAST  loc 3705,-2557  DistToNext 59.396969
    Speed 0, FLAG 1
     time  0.00   tot 57.24
   [ 6]     qtv    move FORWARD   dir SOUTH_EAST  loc 3747,-2599  DistToNext 0.000000
    Speed 4, FLAG 1
     time 26.73   tot 83.97
   [ 7]     qtv    move PORT_TURN   dir EAST  loc 3747,-2599  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot 83.97
   [ 8]     qtv    move FORWARD   dir EAST  loc 3807,-2599  DistToNext 0.000000
    Speed 5, FLAG 1
     time 21.60   tot 105.57
   [ 9]     qtv    move PORT_TURN   dir NORTH_EAST  loc 3807,-2599  DistToNext 59.396969
    Speed 0, FLAG 1
     time  0.00   tot 105.57
   [10]     qtv    move FORWARD   dir NORTH_EAST  loc 3849,-2557  DistToNext 0.000000
    Speed 3, FLAG 1
     time 35.64   tot 141.20
   [11]     qtv    move PORT_TURN   dir NORTH  loc 3849,-2557  DistToNext 42.000000
    Speed 0, FLAG 1
     time  0.00   tot 141.20
   [12]     qtv    move FORWARD   dir NORTH  loc 3849,-2515  DistToNext 25.000000
    Speed 2, FLAG 1
     time 37.80   tot 179.00
   [13]     qtv    move FORWARD   dir NORTH  loc 3849,-2540  DistToNext 0.000000
    Speed 2, FLAG 2
     time 22.50   tot 201.50
  End Path <===
* ==> Start Path
   [ 0]     qtv    move STBD_TURN   dir NORTH_EAST  loc 1769,729  DistToNext 50.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir NORTH_EAST  loc 1804,694  DistToNext 0.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
   [ 2]     qtv    move STBD_TURN   dir EAST  loc 1804,694  DistToNext 50.000000
    Speed 0, FLAG 1
     time  0.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move PORT_TURN   dir NORTH  loc 1972,-240  DistToNext 50.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir NORTH  loc 2007,-275  DistToNext 0.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
   [ 2]     qtv    move STBD_TURN   dir NORTH_EAST  loc 2007,-275  DistToNext 50.000000
    Speed 0, FLAG 1
     time  0.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir NORTH  loc 3600,-1587  DistToNext 100.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir NORTH  loc 3600,-1487  DistToNext 0.000000
    Speed 1, FLAG 1
     time 180.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir WEST  loc 2214,-2148  DistToNext 0.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move PORT_TURN   dir SOUTH_WEST  loc 2214,-2148  DistToNext 69.296463
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move FORWARD   dir SOUTH_WEST  loc 2165,-2197  DistToNext 0.000000
    Speed 1, FLAG 1
     time 124.73   tot 124.73
   [ 3]     qtv    move PORT_TURN   dir SOUTH  loc 2165,-2197  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot 124.73
   [ 4]     qtv    move FORWARD   dir SOUTH  loc 2165,-2257  DistToNext 51.000000
    Speed 2, FLAG 1
     time 54.00   tot 178.73
   [ 5]     qtv    move FORWARD   dir SOUTH  loc 2165,-2206  DistToNext 0.000000
    Speed 2, FLAG 2
     time 45.90   tot 224.63
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir SOUTH_EAST  loc 2463,-541  DistToNext 0.000000
    Speed 5, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move PORT_TURN   dir EAST  loc 2463,-541  DistToNext 70.000000
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move FORWARD   dir EAST  loc 2533,-541  DistToNext 0.000000
    Speed 6, FLAG 1
     time 21.00   tot 21.00
   [ 3]     qtv    move PORT_TURN   dir NORTH_EAST  loc 2533,-541  DistToNext 69.296463
    Speed 0, FLAG 1
     time  0.00   tot 21.00
   [ 4]     qtv    move FORWARD   dir NORTH_EAST  loc 2582,-492  DistToNext 0.000000
    Speed 4, FLAG 1
     time 31.18   tot 52.18
   [ 5]     qtv    move PORT_TURN   dir NORTH  loc 2582,-492  DistToNext 140.000000
    Speed 0, FLAG 1
     time  0.00   tot 52.18
   [ 6]     qtv    move FORWARD   dir NORTH  loc 2582,-352  DistToNext 0.000000
    Speed 2, FLAG 1
     time 126.00   tot 178.18
   [ 7]     qtv    move PORT_TURN   dir NORTH_WEST  loc 2582,-352  DistToNext 70.710678
    Speed 0, FLAG 1
     time  0.00   tot 178.18
   [ 8]     qtv    move FORWARD   dir NORTH_WEST  loc 2532,-302  DistToNext 0.000000
    Speed 0, FLAG 1
     time   inf   tot   inf
   [ 9]     qtv    move PORT_TURN   dir WEST  loc 2532,-302  DistToNext 70.000000
    Speed 0, FLAG 1
     time  0.00   tot   inf
   [10]     qtv    move FORWARD   dir WEST  loc 2462,-302  DistToNext 0.000000
    Speed 2, FLAG 1
     time 63.00   tot   inf
   [11]     qtv    move PORT_TURN   dir SOUTH_WEST  loc 2462,-302  DistToNext 0.000000
    Speed 2, FLAG 1
     time  0.00   tot   inf
   [12]     qtv    move PORT_TURN   dir SOUTH  loc 2462,-302  DistToNext 70.000000
    Speed 0, FLAG 1
     time  0.00   tot   inf
   [13]     qtv    move FORWARD   dir SOUTH  loc 2462,-372  DistToNext 0.000000
    Speed 6, FLAG 1
     time 21.00   tot   inf
   [14]     qtv    move STBD_TURN   dir SOUTH_WEST  loc 2462,-372  DistToNext 2.828427
    Speed 6, FLAG 1
     time  0.00   tot   inf
   [15]     qtv    move FORWARD   dir SOUTH_WEST  loc 2460,-374  DistToNext 63.639610
    Speed 4, FLAG 1
     time  1.27   tot   inf
   [16]     qtv    move FORWARD   dir SOUTH_WEST  loc 2415,-419  DistToNext 0.000000
    Speed 4, FLAG 2
     time 28.64   tot   inf
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir SOUTH_EAST  loc 2116,-223  DistToNext 0.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move PORT_TURN   dir EAST  loc 2116,-223  DistToNext 70.000000
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move FORWARD   dir EAST  loc 2186,-223  DistToNext 0.000000
    Speed 2, FLAG 1
     time 63.00   tot 63.00
   [ 3]     qtv    move PORT_TURN   dir NORTH_EAST  loc 2186,-223  DistToNext 63.639610
    Speed 0, FLAG 1
     time  0.00   tot 63.00
   [ 4]     qtv    move FORWARD   dir NORTH_EAST  loc 2231,-178  DistToNext 59.396969
    Speed 1, FLAG 1
     time 114.55   tot 177.55
   [ 5]     qtv    move FORWARD   dir NORTH_EAST  loc 2189,-220  DistToNext 0.000000
    Speed 1, FLAG 2
     time 106.91   tot 284.46
  End Path <===
* ==> Start Path
   [ 0]     qtv    move PORT_TURN   dir EAST  loc 1917,-316  DistToNext 50.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir EAST  loc 1952,-351  DistToNext 0.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
   [ 2]     qtv    move PORT_TURN   dir NORTH_EAST  loc 1952,-351  DistToNext 50.000000
    Speed 0, FLAG 1
     time  0.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move PORT_TURN   dir NORTH  loc 3646,-130  DistToNext 100.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir NORTH  loc 3646,-30  DistToNext 21.000000
    Speed 1, FLAG 1
     time 180.00   tot 180.00
   [ 2]     qtv    move FORWARD   dir NORTH  loc 3646,-51  DistToNext 0.000000
    Speed 1, FLAG 2
     time 37.80   tot 217.80
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir NORTH  loc 3829,1008  DistToNext 100.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir NORTH  loc 3829,1108  DistToNext 0.000000
    Speed 1, FLAG 1
     time 180.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir SOUTH_EAST  loc 2168,-523  DistToNext 0.000000
    Speed 5, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move STBD_TURN   dir SOUTH  loc 2168,-523  DistToNext 60.000000
    Speed 5, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move FORWARD   dir SOUTH  loc 2168,-583  DistToNext 0.000000
    Speed 6, FLAG 1
     time 18.00   tot 18.00
   [ 3]     qtv    move STBD_TURN   dir SOUTH_WEST  loc 2168,-583  DistToNext 60.811184
    Speed 6, FLAG 1
     time  0.00   tot 18.00
   [ 4]     qtv    move FORWARD   dir SOUTH_WEST  loc 2125,-626  DistToNext 0.000000
    Speed 4, FLAG 1
     time 27.36   tot 45.36
   [ 5]     qtv    move STBD_TURN   dir WEST  loc 2125,-626  DistToNext 0.000000
    Speed 4, FLAG 1
     time  0.00   tot 45.36
   [ 6]     qtv    move STBD_TURN   dir NORTH_WEST  loc 2125,-626  DistToNext 60.811184
    Speed 0, FLAG 1
     time  0.00   tot 45.36
   [ 7]     qtv    move FORWARD   dir NORTH_WEST  loc 2082,-583  DistToNext 0.000000
    Speed 4, FLAG 1
     time 27.36   tot 72.73
   [ 8]     qtv    move STBD_TURN   dir NORTH  loc 2082,-583  DistToNext 119.000000
    Speed 4, FLAG 1
     time  0.00   tot 72.73
   [ 9]     qtv    move FORWARD   dir NORTH  loc 2082,-464  DistToNext 0.000000
    Speed 2, FLAG 1
     time 107.10   tot 179.83
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir NORTH  loc 3501,809  DistToNext 100.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir NORTH  loc 3501,909  DistToNext 0.000000
    Speed 1, FLAG 1
     time 180.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir SOUTH_EAST  loc 2863,60  DistToNext 0.000000
    Speed 4, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move PORT_TURN   dir EAST  loc 2863,60  DistToNext 120.000000
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move FORWARD   dir EAST  loc 2983,60  DistToNext 0.000000
    Speed 5, FLAG 1
     time 43.20   tot 43.20
   [ 3]     qtv    move PORT_TURN   dir NORTH_EAST  loc 2983,60  DistToNext 60.811184
    Speed 0, FLAG 1
     time  0.00   tot 43.20
   [ 4]     qtv    move FORWARD   dir NORTH_EAST  loc 3026,103  DistToNext 0.000000
    Speed 3, FLAG 1
     time 36.49   tot 79.69
   [ 5]     qtv    move PORT_TURN   dir NORTH  loc 3026,103  DistToNext 60.000000
    Speed 3, FLAG 1
     time  0.00   tot 79.69
   [ 6]     qtv    move FORWARD   dir NORTH  loc 3026,163  DistToNext 0.000000
    Speed 1, FLAG 1
     time 108.00   tot 187.69
   [ 7]     qtv    move PORT_TURN   dir NORTH_WEST  loc 3026,163  DistToNext 0.000000
    Speed 1, FLAG 1
     time  0.00   tot 187.69
   [ 8]     qtv    move PORT_TURN   dir WEST  loc 3026,163  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot 187.69
   [ 9]     qtv    move FORWARD   dir WEST  loc 2966,163  DistToNext 0.000000
    Speed 1, FLAG 1
     time 108.00   tot 295.68
   [10]     qtv    move STBD_TURN   dir NORTH_WEST  loc 2966,163  DistToNext -32.135197
    Speed 1, FLAG 1
     time  0.00   tot 295.68
   [11]     qtv    move FORWARD   dir NORTH_WEST  loc 2988,141  DistToNext 0.000000
    Speed -1, FLAG 1
     time -115.69   tot 180.00
   [12]     qtv    move STBD_TURN   dir NORTH  loc 2988,141  DistToNext -32.135197
    Speed 0, FLAG 1
     time  0.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir SOUTH  loc 3174,372  DistToNext 0.000000
    Speed 3, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move PORT_TURN   dir SOUTH_EAST  loc 3174,372  DistToNext 59.396969
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move FORWARD   dir SOUTH_EAST  loc 3216,330  DistToNext 0.000000
    Speed 2, FLAG 1
     time 53.46   tot 53.46
   [ 3]     qtv    move PORT_TURN   dir EAST  loc 3216,330  DistToNext 120.000000
    Speed 0, FLAG 1
     time  0.00   tot 53.46
   [ 4]     qtv    move FORWARD   dir EAST  loc 3336,330  DistToNext 0.000000
    Speed 3, FLAG 1
     time 72.00   tot 125.46
   [ 5]     qtv    move PORT_TURN   dir NORTH_EAST  loc 3336,330  DistToNext 60.811184
    Speed 0, FLAG 1
     time  0.00   tot 125.46
   [ 6]     qtv    move FORWARD   dir NORTH_EAST  loc 3379,373  DistToNext 0.000000
    Speed 1, FLAG 1
     time 109.46   tot 234.92
   [ 7]     qtv    move PORT_TURN   dir NORTH  loc 3379,373  DistToNext 60.000000
    Speed 1, FLAG 1
     time  0.00   tot 234.92
   [ 8]     qtv    move FORWARD   dir NORTH  loc 3379,433  DistToNext 0.000000
    Speed 1, FLAG 1
     time 108.00   tot 342.91
   [ 9]     qtv    move PORT_TURN   dir NORTH_WEST  loc 3379,433  DistToNext 0.000000
    Speed 1, FLAG 1
     time  0.00   tot 342.91
   [10]     qtv    move PORT_TURN   dir WEST  loc 3379,433  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot 342.91
   [11]     qtv    move FORWARD   dir WEST  loc 3319,433  DistToNext 0.000000
    Speed 1, FLAG 1
     time 108.00   tot 450.91
   [12]     qtv    move STBD_TURN   dir NORTH_WEST  loc 3319,433  DistToNext -75.254829
    Speed 1, FLAG 1
     time  0.00   tot 450.91
   [13]     qtv    move FORWARD   dir NORTH_WEST  loc 3372,380  DistToNext -75.254829
    Speed -1, FLAG 1
     time -270.92   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir SOUTH_EAST  loc 2444,-189  DistToNext 0.000000
    Speed 4, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move PORT_TURN   dir EAST  loc 2444,-189  DistToNext 120.000000
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move FORWARD   dir EAST  loc 2564,-189  DistToNext 0.000000
    Speed 5, FLAG 1
     time 43.20   tot 43.20
   [ 3]     qtv    move PORT_TURN   dir NORTH_EAST  loc 2564,-189  DistToNext 60.811184
    Speed 0, FLAG 1
     time  0.00   tot 43.20
   [ 4]     qtv    move FORWARD   dir NORTH_EAST  loc 2607,-146  DistToNext 0.000000
    Speed 3, FLAG 1
     time 36.49   tot 79.69
   [ 5]     qtv    move PORT_TURN   dir NORTH  loc 2607,-146  DistToNext 60.000000
    Speed 3, FLAG 1
     time  0.00   tot 79.69
   [ 6]     qtv    move FORWARD   dir NORTH  loc 2607,-86  DistToNext 0.000000
    Speed 2, FLAG 1
     time 54.00   tot 133.69
   [ 7]     qtv    move PORT_TURN   dir NORTH_WEST  loc 2607,-86  DistToNext 0.000000
    Speed 2, FLAG 1
     time  0.00   tot 133.69
   [ 8]     qtv    move PORT_TURN   dir WEST  loc 2607,-86  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot 133.69
   [ 9]     qtv    move FORWARD   dir WEST  loc 2547,-86  DistToNext 0.000000
    Speed 2, FLAG 1
     time 54.00   tot 187.69
   [10]     qtv    move STBD_TURN   dir NORTH_WEST  loc 2547,-86  DistToNext -2.135196
    Speed 2, FLAG 1
     time  0.00   tot 187.69
   [11]     qtv    move FORWARD   dir NORTH_WEST  loc 2548,-87  DistToNext -2.135196
    Speed -1, FLAG 1
     time -7.69   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move STBD_TURN   dir SOUTH_EAST  loc 923,507  DistToNext 50.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir SOUTH_EAST  loc 958,472  DistToNext 0.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
   [ 2]     qtv    move STBD_TURN   dir SOUTH  loc 958,472  DistToNext 50.000000
    Speed 0, FLAG 1
     time  0.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move PORT_TURN   dir NORTH  loc 1720,686  DistToNext 50.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir NORTH  loc 1755,651  DistToNext 0.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
   [ 2]     qtv    move STBD_TURN   dir NORTH_EAST  loc 1755,651  DistToNext 50.000000
    Speed 0, FLAG 1
     time  0.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir NORTH  loc 3678,-2403  DistToNext 0.000000
    Speed 2, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move STBD_TURN   dir NORTH_EAST  loc 3678,-2403  DistToNext 59.396969
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move FORWARD   dir NORTH_EAST  loc 3720,-2361  DistToNext 0.000000
    Speed 3, FLAG 1
     time 35.64   tot 35.64
   [ 3]     qtv    move STBD_TURN   dir EAST  loc 3720,-2361  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot 35.64
   [ 4]     qtv    move FORWARD   dir EAST  loc 3780,-2361  DistToNext 0.000000
    Speed 5, FLAG 1
     time 21.60   tot 57.24
   [ 5]     qtv    move STBD_TURN   dir SOUTH_EAST  loc 3780,-2361  DistToNext 59.396969
    Speed 0, FLAG 1
     time  0.00   tot 57.24
   [ 6]     qtv    move FORWARD   dir SOUTH_EAST  loc 3822,-2403  DistToNext 0.000000
    Speed 4, FLAG 1
     time 26.73   tot 83.97
   [ 7]     qtv    move STBD_TURN   dir SOUTH  loc 3822,-2403  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot 83.97
   [ 8]     qtv    move FORWARD   dir SOUTH  loc 3822,-2463  DistToNext 0.000000
    Speed 5, FLAG 1
     time 21.60   tot 105.57
   [ 9]     qtv    move STBD_TURN   dir SOUTH_WEST  loc 3822,-2463  DistToNext 59.396969
    Speed 0, FLAG 1
     time  0.00   tot 105.57
   [10]     qtv    move FORWARD   dir SOUTH_WEST  loc 3780,-2505  DistToNext 0.000000
    Speed 3, FLAG 1
     time 35.64   tot 141.20
   [11]     qtv    move STBD_TURN   dir WEST  loc 3780,-2505  DistToNext 42.000000
    Speed 0, FLAG 1
     time  0.00   tot 141.20
   [12]     qtv    move FORWARD   dir WEST  loc 3738,-2505  DistToNext 25.000000
    Speed 2, FLAG 1
     time 37.80   tot 179.00
   [13]     qtv    move FORWARD   dir WEST  loc 3763,-2505  DistToNext 0.000000
    Speed 2, FLAG 2
     time 22.50   tot 201.50
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir NORTH_EAST  loc 2108,8  DistToNext 50.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir NORTH_EAST  loc 2143,-27  DistToNext 0.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
   [ 2]     qtv    move PORT_TURN   dir NORTH  loc 2143,-27  DistToNext 50.000000
    Speed 0, FLAG 1
     time  0.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move PORT_TURN   dir SOUTH_EAST  loc 2139,166  DistToNext 50.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir SOUTH_EAST  loc 2174,131  DistToNext 50.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move PORT_TURN   dir SOUTH_EAST  loc 2154,-590  DistToNext 50.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir SOUTH_EAST  loc 2189,-625  DistToNext 0.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
   [ 2]     qtv    move PORT_TURN   dir EAST  loc 2189,-625  DistToNext 50.000000
    Speed 0, FLAG 1
     time  0.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move PORT_TURN   dir SOUTH_EAST  loc 1683,200  DistToNext 50.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir SOUTH_EAST  loc 1718,165  DistToNext 0.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
   [ 2]     qtv    move STBD_TURN   dir SOUTH  loc 1718,165  DistToNext 50.000000
    Speed 0, FLAG 1
     time  0.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move STBD_TURN   dir SOUTH_WEST  loc 2460,-1702  DistToNext 50.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir SOUTH_WEST  loc 2495,-1737  DistToNext 0.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
   [ 2]     qtv    move PORT_TURN   dir SOUTH  loc 2495,-1737  DistToNext 50.000000
    Speed 0, FLAG 1
     time  0.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir NORTH  loc 3849,-2515  DistToNext 0.000000
    Speed 2, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move STBD_TURN   dir NORTH_EAST  loc 3849,-2515  DistToNext 59.396969
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move FORWARD   dir NORTH_EAST  loc 3891,-2473  DistToNext 0.000000
    Speed 3, FLAG 1
     time 35.64   tot 35.64
   [ 3]     qtv    move STBD_TURN   dir EAST  loc 3891,-2473  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot 35.64
   [ 4]     qtv    move FORWARD   dir EAST  loc 3951,-2473  DistToNext 0.000000
    Speed 5, FLAG 1
     time 21.60   tot 57.24
   [ 5]     qtv    move STBD_TURN   dir SOUTH_EAST  loc 3951,-2473  DistToNext 59.396969
    Speed 0, FLAG 1
     time  0.00   tot 57.24
   [ 6]     qtv    move FORWARD   dir SOUTH_EAST  loc 3993,-2515  DistToNext 0.000000
    Speed 4, FLAG 1
     time 26.73   tot 83.97
   [ 7]     qtv    move STBD_TURN   dir SOUTH  loc 3993,-2515  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot 83.97
   [ 8]     qtv    move FORWARD   dir SOUTH  loc 3993,-2575  DistToNext 0.000000
    Speed 5, FLAG 1
     time 21.60   tot 105.57
   [ 9]     qtv    move STBD_TURN   dir SOUTH_WEST  loc 3993,-2575  DistToNext 59.396969
    Speed 0, FLAG 1
     time  0.00   tot 105.57
   [10]     qtv    move FORWARD   dir SOUTH_WEST  loc 3951,-2617  DistToNext 0.000000
    Speed 3, FLAG 1
     time 35.64   tot 141.20
   [11]     qtv    move STBD_TURN   dir WEST  loc 3951,-2617  DistToNext 42.000000
    Speed 0, FLAG 1
     time  0.00   tot 141.20
   [12]     qtv    move FORWARD   dir WEST  loc 3909,-2617  DistToNext 25.000000
    Speed 2, FLAG 1
     time 37.80   tot 179.00
   [13]     qtv    move FORWARD   dir WEST  loc 3934,-2617  DistToNext 0.000000
    Speed 2, FLAG 2
     time 22.50   tot 201.50
  End Path <===
* ==> Start Path
   [ 0]     qtv    move STBD_TURN   dir EAST  loc 1804,694  DistToNext 50.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir EAST  loc 1839,659  DistToNext 0.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
   [ 2]     qtv    move PORT_TURN   dir NORTH_EAST  loc 1839,659  DistToNext 50.000000
    Speed 0, FLAG 1
     time  0.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move STBD_TURN   dir NORTH_EAST  loc 2007,-275  DistToNext 50.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir NORTH_EAST  loc 2042,-310  DistToNext 0.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
   [ 2]     qtv    move PORT_TURN   dir NORTH  loc 2042,-310  DistToNext 50.000000
    Speed 0, FLAG 1
     time  0.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir NORTH  loc 3600,-1487  DistToNext 100.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir NORTH  loc 3600,-1387  DistToNext 0.000000
    Speed 1, FLAG 1
     time 180.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir SOUTH  loc 2165,-2257  DistToNext 0.000000
    Speed 2, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move PORT_TURN   dir SOUTH_EAST  loc 2165,-2257  DistToNext 69.296463
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move FORWARD   dir SOUTH_EAST  loc 2214,-2306  DistToNext 0.000000
    Speed 2, FLAG 1
     time 62.37   tot 62.37
   [ 3]     qtv    move PORT_TURN   dir EAST  loc 2214,-2306  DistToNext 130.000000
    Speed 0, FLAG 1
     time  0.00   tot 62.37
   [ 4]     qtv    move FORWARD   dir EAST  loc 2344,-2306  DistToNext 0.000000
    Speed 2, FLAG 1
     time 117.00   tot 179.37
  End Path <===
* ==> Start Path
   [ 0]     qtv    move NO_MOVE   dir NORTH_WEST  loc 2460,-374  DistToNext 50.000000
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir NORTH_WEST  loc 2495,-409  DistToNext 0.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
   [ 2]     qtv    move STBD_TURN   dir NORTH  loc 2495,-409  DistToNext 50.000000
    Speed 0, FLAG 1
     time  0.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir NORTH_EAST  loc 2231,-178  DistToNext 0.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move STBD_TURN   dir EAST  loc 2231,-178  DistToNext 140.000000
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move FORWARD   dir EAST  loc 2371,-178  DistToNext 0.000000
    Speed 2, FLAG 1
     time 126.00   tot 126.00
   [ 3]     qtv    move PORT_TURN   dir NORTH_EAST  loc 2371,-178  DistToNext 70.710678
    Speed 0, FLAG 1
     time  0.00   tot 126.00
   [ 4]     qtv    move FORWARD   dir NORTH_EAST  loc 2421,-128  DistToNext 0.000000
    Speed 1, FLAG 1
     time 127.28   tot 253.28
   [ 5]     qtv    move PORT_TURN   dir NORTH  loc 2421,-128  DistToNext 70.000000
    Speed 1, FLAG 1
     time  0.00   tot 253.28
   [ 6]     qtv    move FORWARD   dir NORTH  loc 2421,-58  DistToNext 0.000000
    Speed 1, FLAG 1
     time 126.00   tot 379.28
   [ 7]     qtv    move PORT_TURN   dir NORTH_WEST  loc 2421,-58  DistToNext 0.000000
    Speed 1, FLAG 1
     time  0.00   tot 379.28
   [ 8]     qtv    move PORT_TURN   dir WEST  loc 2421,-58  DistToNext 70.000000
    Speed 0, FLAG 1
     time  0.00   tot 379.28
   [ 9]     qtv    move FORWARD   dir WEST  loc 2351,-58  DistToNext 0.000000
    Speed 1, FLAG 1
     time 126.00   tot 505.28
   [10]     qtv    move STBD_TURN   dir NORTH_WEST  loc 2351,-58  DistToNext -90.355339
    Speed 1, FLAG 1
     time  0.00   tot 505.28
   [11]     qtv    move FORWARD   dir NORTH_WEST  loc 2414,-121  DistToNext -90.355339
    Speed -1, FLAG 1
     time -325.28   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move PORT_TURN   dir NORTH_EAST  loc 1952,-351  DistToNext 50.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir NORTH_EAST  loc 1987,-386  DistToNext 50.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move PORT_TURN   dir NORTH  loc 3646,-30  DistToNext 100.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir NORTH  loc 3646,70  DistToNext 21.000000
    Speed 1, FLAG 1
     time 180.00   tot 180.00
   [ 2]     qtv    move FORWARD   dir NORTH  loc 3646,49  DistToNext 0.000000
    Speed 1, FLAG 2
     time 37.80   tot 217.80
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir NORTH  loc 3829,1108  DistToNext 100.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir NORTH  loc 3829,1208  DistToNext 0.000000
    Speed 1, FLAG 1
     time 180.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir SOUTH  loc 2200,-594  DistToNext 0.000000
    Speed 6, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move STBD_TURN   dir SOUTH_WEST  loc 2200,-594  DistToNext 60.811184
    Speed 6, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move FORWARD   dir SOUTH_WEST  loc 2157,-637  DistToNext 0.000000
    Speed 4, FLAG 1
     time 27.36   tot 27.36
   [ 3]     qtv    move STBD_TURN   dir WEST  loc 2157,-637  DistToNext 60.000000
    Speed 4, FLAG 1
     time  0.00   tot 27.36
   [ 4]     qtv    move FORWARD   dir WEST  loc 2097,-637  DistToNext 0.000000
    Speed 2, FLAG 1
     time 54.00   tot 81.36
   [ 5]     qtv    move STBD_TURN   dir NORTH_WEST  loc 2097,-637  DistToNext 0.000000
    Speed 2, FLAG 1
     time  0.00   tot 81.36
   [ 6]     qtv    move STBD_TURN   dir NORTH  loc 2097,-637  DistToNext 109.000000
    Speed 0, FLAG 1
     time  0.00   tot 81.36
   [ 7]     qtv    move FORWARD   dir NORTH  loc 2097,-528  DistToNext 39.000000
    Speed 2, FLAG 1
     time 98.10   tot 179.46
   [ 8]     qtv    move FORWARD   dir NORTH  loc 2097,-567  DistToNext 0.000000
    Speed 2, FLAG 2
     time 35.10   tot 214.56
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir NORTH  loc 3501,909  DistToNext 100.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir NORTH  loc 3501,1009  DistToNext 0.000000
    Speed 1, FLAG 1
     time 180.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move STBD_TURN   dir NORTH  loc 2988,141  DistToNext 60.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir NORTH  loc 2988,201  DistToNext 0.000000
    Speed 1, FLAG 1
     time 108.00   tot 108.00
   [ 2]     qtv    move STBD_TURN   dir NORTH_EAST  loc 2988,201  DistToNext 59.396969
    Speed 0, FLAG 1
     time  0.00   tot 108.00
   [ 3]     qtv    move FORWARD   dir NORTH_EAST  loc 3030,243  DistToNext 0.000000
    Speed 3, FLAG 1
     time 35.64   tot 143.64
   [ 4]     qtv    move STBD_TURN   dir EAST  loc 3030,243  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot 143.64
   [ 5]     qtv    move FORWARD   dir EAST  loc 3090,243  DistToNext 0.000000
    Speed 5, FLAG 1
     time 21.60   tot 165.24
   [ 6]     qtv    move STBD_TURN   dir SOUTH_EAST  loc 3090,243  DistToNext 31.112698
    Speed 0, FLAG 1
     time  0.00   tot 165.24
   [ 7]     qtv    move FORWARD   dir SOUTH_EAST  loc 3112,221  DistToNext 4.242640
    Speed 4, FLAG 1
     time 14.00   tot 179.24
   [ 8]     qtv    move FORWARD   dir SOUTH_EAST  loc 3109,224  DistToNext 0.000000
    Speed 4, FLAG 2
     time  1.91   tot 181.15
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir NORTH_EAST  loc 3372,380  DistToNext 0.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move STBD_TURN   dir EAST  loc 3372,380  DistToNext 120.000000
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move FORWARD   dir EAST  loc 3492,380  DistToNext 0.000000
    Speed 3, FLAG 1
     time 72.00   tot 72.00
   [ 3]     qtv    move PORT_TURN   dir NORTH_EAST  loc 3492,380  DistToNext 60.811184
    Speed 0, FLAG 1
     time  0.00   tot 72.00
   [ 4]     qtv    move FORWARD   dir NORTH_EAST  loc 3535,423  DistToNext 0.000000
    Speed 1, FLAG 1
     time 109.46   tot 181.46
   [ 5]     qtv    move PORT_TURN   dir NORTH  loc 3535,423  DistToNext 60.000000
    Speed 1, FLAG 1
     time  0.00   tot 181.46
   [ 6]     qtv    move FORWARD   dir NORTH  loc 3535,483  DistToNext 0.000000
    Speed 1, FLAG 1
     time 108.00   tot 289.46
   [ 7]     qtv    move PORT_TURN   dir NORTH_WEST  loc 3535,483  DistToNext 0.000000
    Speed 1, FLAG 1
     time  0.00   tot 289.46
   [ 8]     qtv    move PORT_TURN   dir WEST  loc 3535,483  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot 289.46
   [ 9]     qtv    move FORWARD   dir WEST  loc 3475,483  DistToNext 0.000000
    Speed 1, FLAG 1
     time 108.00   tot 397.46
   [10]     qtv    move STBD_TURN   dir NORTH_WEST  loc 3475,483  DistToNext -60.405586
    Speed 1, FLAG 1
     time  0.00   tot 397.46
   [11]     qtv    move FORWARD   dir NORTH_WEST  loc 3517,441  DistToNext 0.000000
    Speed -1, FLAG 1
     time -217.46   tot 180.00
   [12]     qtv    move STBD_TURN   dir NORTH  loc 3517,441  DistToNext -60.405586
    Speed 0, FLAG 1
     time  0.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir WEST  loc 2548,-87  DistToNext 0.000000
    Speed 2, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move PORT_TURN   dir SOUTH_WEST  loc 2548,-87  DistToNext 0.000000
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move STBD_TURN   dir WEST  loc 2548,-87  DistToNext 60.000000
    Speed 2, FLAG 1
     time  0.00   tot  0.00
   [ 3]     qtv    move FORWARD   dir WEST  loc 2488,-87  DistToNext 0.000000
    Speed 2, FLAG 1
     time 54.00   tot 54.00
   [ 4]     qtv    move STBD_TURN   dir NORTH_WEST  loc 2488,-87  DistToNext 60.811184
    Speed 2, FLAG 1
     time  0.00   tot 54.00
   [ 5]     qtv    move FORWARD   dir NORTH_WEST  loc 2445,-44  DistToNext 0.000000
    Speed 2, FLAG 1
     time 54.73   tot 108.73
   [ 6]     qtv    move STBD_TURN   dir NORTH  loc 2445,-44  DistToNext 0.000000
    Speed 2, FLAG 1
     time  0.00   tot 108.73
   [ 7]     qtv    move STBD_TURN   dir NORTH_EAST  loc 2445,-44  DistToNext 60.811184
    Speed 0, FLAG 1
     time  0.00   tot 108.73
   [ 8]     qtv    move FORWARD   dir NORTH_EAST  loc 2488,-1  DistToNext 0.000000
    Speed 3, FLAG 1
     time 36.49   tot 145.22
   [ 9]     qtv    move STBD_TURN   dir EAST  loc 2488,-1  DistToNext 96.000000
    Speed 3, FLAG 1
     time  0.00   tot 145.22
   [10]     qtv    move FORWARD   dir EAST  loc 2584,-1  DistToNext 0.000000
    Speed 5, FLAG 1
     time 34.56   tot 179.78
  End Path <===
* ==> Start Path
   [ 0]     qtv    move STBD_TURN   dir SOUTH  loc 958,472  DistToNext 50.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir SOUTH  loc 993,437  DistToNext 50.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move STBD_TURN   dir NORTH_EAST  loc 1755,651  DistToNext 50.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir NORTH_EAST  loc 1790,616  DistToNext 0.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
   [ 2]     qtv    move PORT_TURN   dir NORTH  loc 1790,616  DistToNext 50.000000
    Speed 0, FLAG 1
     time  0.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir WEST  loc 3738,-2505  DistToNext 0.000000
    Speed 2, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move PORT_TURN   dir SOUTH_WEST  loc 3738,-2505  DistToNext 59.396969
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move FORWARD   dir SOUTH_WEST  loc 3696,-2547  DistToNext 0.000000
    Speed 3, FLAG 1
     time 35.64   tot 35.64
   [ 3]     qtv    move PORT_TURN   dir SOUTH  loc 3696,-2547  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot 35.64
   [ 4]     qtv    move FORWARD   dir SOUTH  loc 3696,-2607  DistToNext 0.000000
    Speed 5, FLAG 1
     time 21.60   tot 57.24
   [ 5]     qtv    move PORT_TURN   dir SOUTH_EAST  loc 3696,-2607  DistToNext 59.396969
    Speed 0, FLAG 1
     time  0.00   tot 57.24
   [ 6]     qtv    move FORWARD   dir SOUTH_EAST  loc 3738,-2649  DistToNext 0.000000
    Speed 4, FLAG 1
     time 26.73   tot 83.97
   [ 7]     qtv    move PORT_TURN   dir EAST  loc 3738,-2649  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot 83.97
   [ 8]     qtv    move FORWARD   dir EAST  loc 3798,-2649  DistToNext 0.000000
    Speed 5, FLAG 1
     time 21.60   tot 105.57
   [ 9]     qtv    move PORT_TURN   dir NORTH_EAST  loc 3798,-2649  DistToNext 59.396969
    Speed 0, FLAG 1
     time  0.00   tot 105.57
   [10]     qtv    move FORWARD   dir NORTH_EAST  loc 3840,-2607  DistToNext 0.000000
    Speed 3, FLAG 1
     time 35.64   tot 141.20
   [11]     qtv    move PORT_TURN   dir NORTH  loc 3840,-2607  DistToNext 42.000000
    Speed 0, FLAG 1
     time  0.00   tot 141.20
   [12]     qtv    move FORWARD   dir NORTH  loc 3840,-2565  DistToNext 25.000000
    Speed 2, FLAG 1
     time 37.80   tot 179.00
   [13]     qtv    move FORWARD   dir NORTH  loc 3840,-2590  DistToNext 0.000000
    Speed 2, FLAG 2
     time 22.50   tot 201.50
  End Path <===
* ==> Start Path
   [ 0]     qtv    move PORT_TURN   dir NORTH  loc 2143,-27  DistToNext 50.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir NORTH  loc 2178,-62  DistToNext 0.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
   [ 2]     qtv    move STBD_TURN   dir NORTH_EAST  loc 2178,-62  DistToNext 50.000000
    Speed 0, FLAG 1
     time  0.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir SOUTH_EAST  loc 2174,131  DistToNext 50.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir SOUTH_EAST  loc 2209,96  DistToNext 0.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
   [ 2]     qtv    move PORT_TURN   dir EAST  loc 2209,96  DistToNext 50.000000
    Speed 0, FLAG 1
     time  0.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir SOUTH_EAST  loc 2191,-627  DistToNext 50.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir SOUTH_EAST  loc 2226,-662  DistToNext 0.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
   [ 2]     qtv    move PORT_TURN   dir EAST  loc 2226,-662  DistToNext 50.000000
    Speed 0, FLAG 1
     time  0.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move STBD_TURN   dir SOUTH  loc 1718,165  DistToNext 50.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir SOUTH  loc 1753,130  DistToNext 0.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
   [ 2]     qtv    move STBD_TURN   dir SOUTH_WEST  loc 1753,130  DistToNext 50.000000
    Speed 0, FLAG 1
     time  0.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move PORT_TURN   dir SOUTH  loc 2495,-1737  DistToNext 50.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir SOUTH  loc 2530,-1772  DistToNext 0.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
   [ 2]     qtv    move PORT_TURN   dir SOUTH_EAST  loc 2530,-1772  DistToNext 50.000000
    Speed 0, FLAG 1
     time  0.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir WEST  loc 3909,-2617  DistToNext 0.000000
    Speed 2, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move PORT_TURN   dir SOUTH_WEST  loc 3909,-2617  DistToNext 59.396969
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move FORWARD   dir SOUTH_WEST  loc 3867,-2659  DistToNext 0.000000
    Speed 3, FLAG 1
     time 35.64   tot 35.64
   [ 3]     qtv    move PORT_TURN   dir SOUTH  loc 3867,-2659  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot 35.64
   [ 4]     qtv    move FORWARD   dir SOUTH  loc 3867,-2719  DistToNext 0.000000
    Speed 5, FLAG 1
     time 21.60   tot 57.24
   [ 5]     qtv    move PORT_TURN   dir SOUTH_EAST  loc 3867,-2719  DistToNext 59.396969
    Speed 0, FLAG 1
     time  0.00   tot 57.24
   [ 6]     qtv    move FORWARD   dir SOUTH_EAST  loc 3909,-2761  DistToNext 0.000000
    Speed 4, FLAG 1
     time 26.73   tot 83.97
   [ 7]     qtv    move PORT_TURN   dir EAST  loc 3909,-2761  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot 83.97
   [ 8]     qtv    move FORWARD   dir EAST  loc 3969,-2761  DistToNext 0.000000
    Speed 5, FLAG 1
     time 21.60   tot 105.57
   [ 9]     qtv    move PORT_TURN   dir NORTH_EAST  loc 3969,-2761  DistToNext 59.396969
    Speed 0, FLAG 1
     time  0.00   tot 105.57
   [10]     qtv    move FORWARD   dir NORTH_EAST  loc 4011,-2719  DistToNext 0.000000
    Speed 3, FLAG 1
     time 35.64   tot 141.20
   [11]     qtv    move PORT_TURN   dir NORTH  loc 4011,-2719  DistToNext 42.000000
    Speed 0, FLAG 1
     time  0.00   tot 141.20
   [12]     qtv    move FORWARD   dir NORTH  loc 4011,-2677  DistToNext 25.000000
    Speed 2, FLAG 1
     time 37.80   tot 179.00
   [13]     qtv    move FORWARD   dir NORTH  loc 4011,-2702  DistToNext 0.000000
    Speed 2, FLAG 2
     time 22.50   tot 201.50
  End Path <===
* ==> Start Path
   [ 0]     qtv    move PORT_TURN   dir NORTH_EAST  loc 1839,659  DistToNext 50.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir NORTH_EAST  loc 1874,624  DistToNext 0.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
   [ 2]     qtv    move PORT_TURN   dir NORTH  loc 1874,624  DistToNext 50.000000
    Speed 0, FLAG 1
     time  0.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move PORT_TURN   dir NORTH  loc 2042,-310  DistToNext 50.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir NORTH  loc 2077,-345  DistToNext 50.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir NORTH  loc 3600,-1387  DistToNext 100.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir NORTH  loc 3600,-1287  DistToNext 0.000000
    Speed 1, FLAG 1
     time 180.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir EAST  loc 2344,-2306  DistToNext 140.000000
    Speed 2, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir EAST  loc 2484,-2306  DistToNext 0.000000
    Speed 2, FLAG 1
     time 126.00   tot 126.00
   [ 2]     qtv    move STBD_TURN   dir SOUTH_EAST  loc 2484,-2306  DistToNext 59.396969
    Speed 0, FLAG 1
     time  0.00   tot 126.00
   [ 3]     qtv    move FORWARD   dir SOUTH_EAST  loc 2526,-2348  DistToNext 49.497475
    Speed 2, FLAG 1
     time 53.46   tot 179.46
   [ 4]     qtv    move FORWARD   dir SOUTH_EAST  loc 2491,-2313  DistToNext 0.000000
    Speed 2, FLAG 2
     time 44.55   tot 224.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move STBD_TURN   dir NORTH  loc 2495,-409  DistToNext 70.000000
    Speed 2, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir NORTH  loc 2495,-339  DistToNext 0.000000
    Speed 2, FLAG 1
     time 63.00   tot 63.00
   [ 2]     qtv    move STBD_TURN   dir NORTH_EAST  loc 2495,-339  DistToNext 69.296463
    Speed 0, FLAG 1
     time  0.00   tot 63.00
   [ 3]     qtv    move FORWARD   dir NORTH_EAST  loc 2544,-290  DistToNext 0.000000
    Speed 4, FLAG 1
     time 31.18   tot 94.18
   [ 4]     qtv    move STBD_TURN   dir EAST  loc 2544,-290  DistToNext 70.000000
    Speed 0, FLAG 1
     time  0.00   tot 94.18
   [ 5]     qtv    move FORWARD   dir EAST  loc 2614,-290  DistToNext 0.000000
    Speed 6, FLAG 1
     time 21.00   tot 115.18
   [ 6]     qtv    move STBD_TURN   dir SOUTH_EAST  loc 2614,-290  DistToNext 176.776703
    Speed 0, FLAG 1
     time  0.00   tot 115.18
   [ 7]     qtv    move FORWARD   dir SOUTH_EAST  loc 2739,-415  DistToNext 8.485281
    Speed 5, FLAG 1
     time 63.64   tot 178.82
   [ 8]     qtv    move FORWARD   dir SOUTH_EAST  loc 2733,-409  DistToNext 0.000000
    Speed 5, FLAG 2
     time  3.05   tot 181.88
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir NORTH_EAST  loc 2414,-121  DistToNext 0.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move STBD_TURN   dir EAST  loc 2414,-121  DistToNext 140.000000
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move FORWARD   dir EAST  loc 2554,-121  DistToNext 0.000000
    Speed 2, FLAG 1
     time 126.00   tot 126.00
   [ 3]     qtv    move PORT_TURN   dir NORTH_EAST  loc 2554,-121  DistToNext 70.710678
    Speed 0, FLAG 1
     time  0.00   tot 126.00
   [ 4]     qtv    move FORWARD   dir NORTH_EAST  loc 2604,-71  DistToNext 0.000000
    Speed 1, FLAG 1
     time 127.28   tot 253.28
   [ 5]     qtv    move PORT_TURN   dir NORTH  loc 2604,-71  DistToNext 70.000000
    Speed 1, FLAG 1
     time  0.00   tot 253.28
   [ 6]     qtv    move FORWARD   dir NORTH  loc 2604,-1  DistToNext 0.000000
    Speed 1, FLAG 1
     time 126.00   tot 379.28
   [ 7]     qtv    move PORT_TURN   dir NORTH_WEST  loc 2604,-1  DistToNext 0.000000
    Speed 1, FLAG 1
     time  0.00   tot 379.28
   [ 8]     qtv    move PORT_TURN   dir WEST  loc 2604,-1  DistToNext 70.000000
    Speed 0, FLAG 1
     time  0.00   tot 379.28
   [ 9]     qtv    move FORWARD   dir WEST  loc 2534,-1  DistToNext 0.000000
    Speed 1, FLAG 1
     time 126.00   tot 505.28
   [10]     qtv    move STBD_TURN   dir NORTH_WEST  loc 2534,-1  DistToNext -90.355339
    Speed 1, FLAG 1
     time  0.00   tot 505.28
   [11]     qtv    move FORWARD   dir NORTH_WEST  loc 2597,-64  DistToNext -90.355339
    Speed -1, FLAG 1
     time -325.28   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir NORTH_EAST  loc 1987,-386  DistToNext 50.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir NORTH_EAST  loc 2022,-421  DistToNext 0.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
   [ 2]     qtv    move PORT_TURN   dir NORTH  loc 2022,-421  DistToNext 50.000000
    Speed 0, FLAG 1
     time  0.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move PORT_TURN   dir NORTH  loc 3646,70  DistToNext 100.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir NORTH  loc 3646,170  DistToNext 21.000000
    Speed 1, FLAG 1
     time 180.00   tot 180.00
   [ 2]     qtv    move FORWARD   dir NORTH  loc 3646,149  DistToNext 0.000000
    Speed 1, FLAG 2
     time 37.80   tot 217.80
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir NORTH  loc 3829,1208  DistToNext 100.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir NORTH  loc 3829,1308  DistToNext 0.000000
    Speed 1, FLAG 1
     time 180.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir SOUTH_WEST  loc 2234,-628  DistToNext 0.000000
    Speed 4, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move STBD_TURN   dir WEST  loc 2234,-628  DistToNext 60.000000
    Speed 4, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move FORWARD   dir WEST  loc 2174,-628  DistToNext 0.000000
    Speed 2, FLAG 1
     time 54.00   tot 54.00
   [ 3]     qtv    move STBD_TURN   dir NORTH_WEST  loc 2174,-628  DistToNext 60.811184
    Speed 2, FLAG 1
     time  0.00   tot 54.00
   [ 4]     qtv    move FORWARD   dir NORTH_WEST  loc 2131,-585  DistToNext 0.000000
    Speed 2, FLAG 1
     time 54.73   tot 108.73
   [ 5]     qtv    move STBD_TURN   dir NORTH  loc 2131,-585  DistToNext 0.000000
    Speed 2, FLAG 1
     time  0.00   tot 108.73
   [ 6]     qtv    move STBD_TURN   dir NORTH_EAST  loc 2131,-585  DistToNext 60.811184
    Speed 0, FLAG 1
     time  0.00   tot 108.73
   [ 7]     qtv    move FORWARD   dir NORTH_EAST  loc 2174,-542  DistToNext 0.000000
    Speed 4, FLAG 1
     time 27.36   tot 136.09
   [ 8]     qtv    move PORT_TURN   dir NORTH  loc 2174,-542  DistToNext 48.000000
    Speed 4, FLAG 1
     time  0.00   tot 136.09
   [ 9]     qtv    move FORWARD   dir NORTH  loc 2174,-494  DistToNext 37.000000
    Speed 2, FLAG 1
     time 43.20   tot 179.29
   [10]     qtv    move FORWARD   dir NORTH  loc 2174,-531  DistToNext 0.000000
    Speed 2, FLAG 2
     time 33.30   tot 212.59
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir NORTH  loc 3501,1009  DistToNext 100.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir NORTH  loc 3501,1109  DistToNext 0.000000
    Speed 1, FLAG 1
     time 180.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move STBD_TURN   dir SOUTH_EAST  loc 3112,221  DistToNext 59.396969
    Speed 4, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move BACK_SAIL   dir SOUTH_EAST  loc 3154,179  DistToNext 0.000000
    Speed 3, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move FORWARD   dir SOUTH_EAST  loc 3154,179  DistToNext 0.000000
    Speed 3, FLAG 1
     time  0.00   tot  0.00
   [ 3]     qtv    move PORT_TURN   dir EAST  loc 3154,179  DistToNext 31.000000
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 4]     qtv    move FORWARD   dir EAST  loc 3185,179  DistToNext 3.000000
    Speed 5, FLAG 1
     time 11.16   tot 11.16
   [ 5]     qtv    move FORWARD   dir EAST  loc 3182,179  DistToNext 0.000000
    Speed 5, FLAG 2
     time  1.08   tot 12.24
   [ 6]     qtv    move NO_DIRECTION   dir EAST  loc 3182,179  DistToNext 425.000000
    Speed 0, FLAG 1
     time  0.00   tot 12.24
  End Path <===
* ==> Start Path
   [ 0]     qtv    move STBD_TURN   dir NORTH  loc 3517,441  DistToNext 60.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir NORTH  loc 3517,501  DistToNext 0.000000
    Speed 1, FLAG 1
     time 108.00   tot 108.00
   [ 2]     qtv    move STBD_TURN   dir NORTH_EAST  loc 3517,501  DistToNext 39.597980
    Speed 0, FLAG 1
     time  0.00   tot 108.00
   [ 3]     qtv    move FORWARD   dir NORTH_EAST  loc 3545,529  DistToNext 19.798990
    Speed 1, FLAG 1
     time 71.28   tot 179.27
   [ 4]     qtv    move FORWARD   dir NORTH_EAST  loc 3531,515  DistToNext 0.000000
    Speed 1, FLAG 2
     time 35.64   tot 214.91
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir EAST  loc 2584,-1  DistToNext 120.000000
    Speed 5, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir EAST  loc 2704,-1  DistToNext 0.000000
    Speed 5, FLAG 1
     time 43.20   tot 43.20
   [ 2]     qtv    move PORT_TURN   dir NORTH_EAST  loc 2704,-1  DistToNext 60.811184
    Speed 0, FLAG 1
     time  0.00   tot 43.20
   [ 3]     qtv    move FORWARD   dir NORTH_EAST  loc 2747,42  DistToNext 0.000000
    Speed 3, FLAG 1
     time 36.49   tot 79.69
   [ 4]     qtv    move PORT_TURN   dir NORTH  loc 2747,42  DistToNext 60.000000
    Speed 3, FLAG 1
     time  0.00   tot 79.69
   [ 5]     qtv    move FORWARD   dir NORTH  loc 2747,102  DistToNext 0.000000
    Speed 2, FLAG 1
     time 54.00   tot 133.69
   [ 6]     qtv    move PORT_TURN   dir NORTH_WEST  loc 2747,102  DistToNext 0.000000
    Speed 2, FLAG 1
     time  0.00   tot 133.69
   [ 7]     qtv    move PORT_TURN   dir WEST  loc 2747,102  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot 133.69
   [ 8]     qtv    move FORWARD   dir WEST  loc 2687,102  DistToNext 0.000000
    Speed 2, FLAG 1
     time 54.00   tot 187.69
   [ 9]     qtv    move STBD_TURN   dir NORTH_WEST  loc 2687,102  DistToNext -2.135196
    Speed 2, FLAG 1
     time  0.00   tot 187.69
   [10]     qtv    move FORWARD   dir NORTH_WEST  loc 2688,101  DistToNext -2.135196
    Speed -1, FLAG 1
     time -7.69   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir SOUTH  loc 993,437  DistToNext 50.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir SOUTH  loc 1028,402  DistToNext 0.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
   [ 2]     qtv    move PORT_TURN   dir SOUTH_EAST  loc 1028,402  DistToNext 50.000000
    Speed 0, FLAG 1
     time  0.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move PORT_TURN   dir NORTH  loc 1790,616  DistToNext 50.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir NORTH  loc 1825,581  DistToNext 50.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir NORTH  loc 3840,-2565  DistToNext 0.000000
    Speed 2, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move STBD_TURN   dir NORTH_EAST  loc 3840,-2565  DistToNext 59.396969
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move FORWARD   dir NORTH_EAST  loc 3882,-2523  DistToNext 0.000000
    Speed 3, FLAG 1
     time 35.64   tot 35.64
   [ 3]     qtv    move STBD_TURN   dir EAST  loc 3882,-2523  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot 35.64
   [ 4]     qtv    move FORWARD   dir EAST  loc 3942,-2523  DistToNext 0.000000
    Speed 5, FLAG 1
     time 21.60   tot 57.24
   [ 5]     qtv    move STBD_TURN   dir SOUTH_EAST  loc 3942,-2523  DistToNext 59.396969
    Speed 0, FLAG 1
     time  0.00   tot 57.24
   [ 6]     qtv    move FORWARD   dir SOUTH_EAST  loc 3984,-2565  DistToNext 0.000000
    Speed 4, FLAG 1
     time 26.73   tot 83.97
   [ 7]     qtv    move STBD_TURN   dir SOUTH  loc 3984,-2565  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot 83.97
   [ 8]     qtv    move FORWARD   dir SOUTH  loc 3984,-2625  DistToNext 0.000000
    Speed 5, FLAG 1
     time 21.60   tot 105.57
   [ 9]     qtv    move STBD_TURN   dir SOUTH_WEST  loc 3984,-2625  DistToNext 59.396969
    Speed 0, FLAG 1
     time  0.00   tot 105.57
   [10]     qtv    move FORWARD   dir SOUTH_WEST  loc 3942,-2667  DistToNext 0.000000
    Speed 3, FLAG 1
     time 35.64   tot 141.20
   [11]     qtv    move STBD_TURN   dir WEST  loc 3942,-2667  DistToNext 42.000000
    Speed 0, FLAG 1
     time  0.00   tot 141.20
   [12]     qtv    move FORWARD   dir WEST  loc 3900,-2667  DistToNext 25.000000
    Speed 2, FLAG 1
     time 37.80   tot 179.00
   [13]     qtv    move FORWARD   dir WEST  loc 3925,-2667  DistToNext 0.000000
    Speed 2, FLAG 2
     time 22.50   tot 201.50
  End Path <===
* ==> Start Path
   [ 0]     qtv    move STBD_TURN   dir NORTH_EAST  loc 2178,-62  DistToNext 50.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir NORTH_EAST  loc 2213,-97  DistToNext 0.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
   [ 2]     qtv    move PORT_TURN   dir NORTH  loc 2213,-97  DistToNext 50.000000
    Speed 0, FLAG 1
     time  0.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move PORT_TURN   dir EAST  loc 2209,96  DistToNext 50.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir EAST  loc 2244,61  DistToNext 0.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
   [ 2]     qtv    move STBD_TURN   dir SOUTH_EAST  loc 2244,61  DistToNext 50.000000
    Speed 0, FLAG 1
     time  0.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir SOUTH_EAST  loc 2225,-661  DistToNext 50.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir SOUTH_EAST  loc 2260,-696  DistToNext 0.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
   [ 2]     qtv    move STBD_TURN   dir SOUTH  loc 2260,-696  DistToNext 50.000000
    Speed 0, FLAG 1
     time  0.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move STBD_TURN   dir SOUTH_WEST  loc 1753,130  DistToNext 50.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir SOUTH_WEST  loc 1788,95  DistToNext 0.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
   [ 2]     qtv    move STBD_TURN   dir WEST  loc 1788,95  DistToNext 50.000000
    Speed 0, FLAG 1
     time  0.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move PORT_TURN   dir SOUTH_EAST  loc 2530,-1772  DistToNext 50.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir SOUTH_EAST  loc 2565,-1807  DistToNext 0.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
   [ 2]     qtv    move STBD_TURN   dir SOUTH  loc 2565,-1807  DistToNext 50.000000
    Speed 0, FLAG 1
     time  0.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir NORTH  loc 4011,-2677  DistToNext 0.000000
    Speed 2, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move STBD_TURN   dir NORTH_EAST  loc 4011,-2677  DistToNext 59.396969
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move FORWARD   dir NORTH_EAST  loc 4053,-2635  DistToNext 0.000000
    Speed 3, FLAG 1
     time 35.64   tot 35.64
   [ 3]     qtv    move STBD_TURN   dir EAST  loc 4053,-2635  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot 35.64
   [ 4]     qtv    move FORWARD   dir EAST  loc 4113,-2635  DistToNext 0.000000
    Speed 5, FLAG 1
     time 21.60   tot 57.24
   [ 5]     qtv    move STBD_TURN   dir SOUTH_EAST  loc 4113,-2635  DistToNext 59.396969
    Speed 0, FLAG 1
     time  0.00   tot 57.24
   [ 6]     qtv    move FORWARD   dir SOUTH_EAST  loc 4155,-2677  DistToNext 0.000000
    Speed 4, FLAG 1
     time 26.73   tot 83.97
   [ 7]     qtv    move STBD_TURN   dir SOUTH  loc 4155,-2677  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot 83.97
   [ 8]     qtv    move FORWARD   dir SOUTH  loc 4155,-2737  DistToNext 0.000000
    Speed 5, FLAG 1
     time 21.60   tot 105.57
   [ 9]     qtv    move STBD_TURN   dir SOUTH_WEST  loc 4155,-2737  DistToNext 59.396969
    Speed 0, FLAG 1
     time  0.00   tot 105.57
   [10]     qtv    move FORWARD   dir SOUTH_WEST  loc 4113,-2779  DistToNext 0.000000
    Speed 3, FLAG 1
     time 35.64   tot 141.20
   [11]     qtv    move STBD_TURN   dir WEST  loc 4113,-2779  DistToNext 42.000000
    Speed 0, FLAG 1
     time  0.00   tot 141.20
   [12]     qtv    move FORWARD   dir WEST  loc 4071,-2779  DistToNext 25.000000
    Speed 2, FLAG 1
     time 37.80   tot 179.00
   [13]     qtv    move FORWARD   dir WEST  loc 4096,-2779  DistToNext 0.000000
    Speed 2, FLAG 2
     time 22.50   tot 201.50
  End Path <===
* ==> Start Path
   [ 0]     qtv    move PORT_TURN   dir NORTH  loc 1874,624  DistToNext 50.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir NORTH  loc 1909,589  DistToNext 50.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir NORTH  loc 2077,-345  DistToNext 50.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir NORTH  loc 2112,-380  DistToNext 50.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir NORTH  loc 3600,-1287  DistToNext 100.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir NORTH  loc 3600,-1187  DistToNext 0.000000
    Speed 1, FLAG 1
     time 180.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir SOUTH_EAST  loc 2526,-2348  DistToNext 0.000000
    Speed 2, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move PORT_TURN   dir EAST  loc 2526,-2348  DistToNext 140.000000
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move FORWARD   dir EAST  loc 2666,-2348  DistToNext 0.000000
    Speed 2, FLAG 1
     time 126.00   tot 126.00
   [ 3]     qtv    move STBD_TURN   dir SOUTH_EAST  loc 2666,-2348  DistToNext 59.396969
    Speed 0, FLAG 1
     time  0.00   tot 126.00
   [ 4]     qtv    move FORWARD   dir SOUTH_EAST  loc 2708,-2390  DistToNext 49.497475
    Speed 2, FLAG 1
     time 53.46   tot 179.46
   [ 5]     qtv    move FORWARD   dir SOUTH_EAST  loc 2673,-2355  DistToNext 0.000000
    Speed 2, FLAG 2
     time 44.55   tot 224.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move STBD_TURN   dir SOUTH_EAST  loc 2739,-415  DistToNext 69.296463
    Speed 5, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir SOUTH_EAST  loc 2788,-464  DistToNext 0.000000
    Speed 5, FLAG 1
     time 24.95   tot 24.95
   [ 2]     qtv    move PORT_TURN   dir EAST  loc 2788,-464  DistToNext 70.000000
    Speed 0, FLAG 1
     time  0.00   tot 24.95
   [ 3]     qtv    move FORWARD   dir EAST  loc 2858,-464  DistToNext 0.000000
    Speed 6, FLAG 1
     time 21.00   tot 45.95
   [ 4]     qtv    move PORT_TURN   dir NORTH_EAST  loc 2858,-464  DistToNext 69.296463
    Speed 0, FLAG 1
     time  0.00   tot 45.95
   [ 5]     qtv    move FORWARD   dir NORTH_EAST  loc 2907,-415  DistToNext 0.000000
    Speed 4, FLAG 1
     time 31.18   tot 77.13
   [ 6]     qtv    move PORT_TURN   dir NORTH  loc 2907,-415  DistToNext 113.000000
    Speed 0, FLAG 1
     time  0.00   tot 77.13
   [ 7]     qtv    move FORWARD   dir NORTH  loc 2907,-302  DistToNext 0.000000
    Speed 2, FLAG 1
     time 101.70   tot 178.83
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir NORTH_EAST  loc 2597,-64  DistToNext 0.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move STBD_TURN   dir EAST  loc 2597,-64  DistToNext 140.000000
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move FORWARD   dir EAST  loc 2737,-64  DistToNext 0.000000
    Speed 2, FLAG 1
     time 126.00   tot 126.00
   [ 3]     qtv    move PORT_TURN   dir NORTH_EAST  loc 2737,-64  DistToNext 70.710678
    Speed 0, FLAG 1
     time  0.00   tot 126.00
   [ 4]     qtv    move FORWARD   dir NORTH_EAST  loc 2787,-14  DistToNext 0.000000
    Speed 1, FLAG 1
     time 127.28   tot 253.28
   [ 5]     qtv    move PORT_TURN   dir NORTH  loc 2787,-14  DistToNext 70.000000
    Speed 1, FLAG 1
     time  0.00   tot 253.28
   [ 6]     qtv    move FORWARD   dir NORTH  loc 2787,56  DistToNext 0.000000
    Speed 1, FLAG 1
     time 126.00   tot 379.28
   [ 7]     qtv    move PORT_TURN   dir NORTH_WEST  loc 2787,56  DistToNext 0.000000
    Speed 1, FLAG 1
     time  0.00   tot 379.28
   [ 8]     qtv    move PORT_TURN   dir WEST  loc 2787,56  DistToNext 70.000000
    Speed 0, FLAG 1
     time  0.00   tot 379.28
   [ 9]     qtv    move FORWARD   dir WEST  loc 2717,56  DistToNext 0.000000
    Speed 1, FLAG 1
     time 126.00   tot 505.28
   [10]     qtv    move STBD_TURN   dir NORTH_WEST  loc 2717,56  DistToNext -90.355339
    Speed 1, FLAG 1
     time  0.00   tot 505.28
   [11]     qtv    move FORWARD   dir NORTH_WEST  loc 2780,-7  DistToNext -90.355339
    Speed -1, FLAG 1
     time -325.28   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move PORT_TURN   dir NORTH  loc 2022,-421  DistToNext 50.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir NORTH  loc 2057,-456  DistToNext 50.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move PORT_TURN   dir NORTH  loc 3646,170  DistToNext 100.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir NORTH  loc 3646,270  DistToNext 21.000000
    Speed 1, FLAG 1
     time 180.00   tot 180.00
   [ 2]     qtv    move FORWARD   dir NORTH  loc 3646,249  DistToNext 0.000000
    Speed 1, FLAG 2
     time 37.80   tot 217.80
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir NORTH  loc 3829,1308  DistToNext 100.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir NORTH  loc 3829,1408  DistToNext 0.000000
    Speed 1, FLAG 1
     time 180.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir NORTH  loc 2174,-494  DistToNext 0.000000
    Speed 2, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move STBD_TURN   dir NORTH_EAST  loc 2174,-494  DistToNext 59.396969
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move FORWARD   dir NORTH_EAST  loc 2216,-452  DistToNext 0.000000
    Speed 4, FLAG 1
     time 26.73   tot 26.73
   [ 3]     qtv    move STBD_TURN   dir EAST  loc 2216,-452  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot 26.73
   [ 4]     qtv    move FORWARD   dir EAST  loc 2276,-452  DistToNext 0.000000
    Speed 6, FLAG 1
     time 18.00   tot 44.73
   [ 5]     qtv    move STBD_TURN   dir SOUTH_EAST  loc 2276,-452  DistToNext 118.793938
    Speed 0, FLAG 1
     time  0.00   tot 44.73
   [ 6]     qtv    move FORWARD   dir SOUTH_EAST  loc 2360,-536  DistToNext 0.000000
    Speed 5, FLAG 1
     time 42.77   tot 87.49
   [ 7]     qtv    move STBD_TURN   dir SOUTH  loc 2360,-536  DistToNext 120.000000
    Speed 0, FLAG 1
     time  0.00   tot 87.49
   [ 8]     qtv    move FORWARD   dir SOUTH  loc 2360,-656  DistToNext 0.000000
    Speed 6, FLAG 1
     time 36.00   tot 123.49
   [ 9]     qtv    move STBD_TURN   dir SOUTH_WEST  loc 2360,-656  DistToNext 118.793938
    Speed 0, FLAG 1
     time  0.00   tot 123.49
   [10]     qtv    move FORWARD   dir SOUTH_WEST  loc 2276,-740  DistToNext 0.000000
    Speed 4, FLAG 1
     time 53.46   tot 176.95
   [11]     qtv    move STBD_TURN   dir WEST  loc 2276,-740  DistToNext 2.000000
    Speed 0, FLAG 1
     time  0.00   tot 176.95
   [12]     qtv    move FORWARD   dir WEST  loc 2274,-740  DistToNext 55.000000
    Speed 2, FLAG 1
     time  1.80   tot 178.75
   [13]     qtv    move FORWARD   dir WEST  loc 2219,-740  DistToNext 0.000000
    Speed 2, FLAG 2
     time 49.50   tot 228.25
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir NORTH  loc 3501,1109  DistToNext 100.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir NORTH  loc 3501,1209  DistToNext 0.000000
    Speed 1, FLAG 1
     time 180.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move STBD_TURN   dir EAST  loc 3185,179  DistToNext 400.000000
    Speed 4, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir EAST  loc 3585,179  DistToNext 0.000000
    Speed 4, FLAG 1
     time 180.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move STBD_TURN   dir NORTH_EAST  loc 3545,529  DistToNext 59.396969
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir NORTH_EAST  loc 3587,571  DistToNext 0.000000
    Speed 1, FLAG 1
     time 106.91   tot 106.91
   [ 2]     qtv    move STBD_TURN   dir EAST  loc 3587,571  DistToNext 120.000000
    Speed 0, FLAG 1
     time  0.00   tot 106.91
   [ 3]     qtv    move FORWARD   dir EAST  loc 3707,571  DistToNext 0.000000
    Speed 3, FLAG 1
     time 72.00   tot 178.91
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir WEST  loc 2688,101  DistToNext 0.000000
    Speed 2, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move PORT_TURN   dir SOUTH_WEST  loc 2688,101  DistToNext 0.000000
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move STBD_TURN   dir WEST  loc 2688,101  DistToNext 60.000000
    Speed 2, FLAG 1
     time  0.00   tot  0.00
   [ 3]     qtv    move FORWARD   dir WEST  loc 2628,101  DistToNext 0.000000
    Speed 2, FLAG 1
     time 54.00   tot 54.00
   [ 4]     qtv    move STBD_TURN   dir NORTH_WEST  loc 2628,101  DistToNext 60.811184
    Speed 2, FLAG 1
     time  0.00   tot 54.00
   [ 5]     qtv    move FORWARD   dir NORTH_WEST  loc 2585,144  DistToNext 0.000000
    Speed 2, FLAG 1
     time 54.73   tot 108.73
   [ 6]     qtv    move STBD_TURN   dir NORTH  loc 2585,144  DistToNext 0.000000
    Speed 2, FLAG 1
     time  0.00   tot 108.73
   [ 7]     qtv    move STBD_TURN   dir NORTH_EAST  loc 2585,144  DistToNext 60.811184
    Speed 0, FLAG 1
     time  0.00   tot 108.73
   [ 8]     qtv    move FORWARD   dir NORTH_EAST  loc 2628,187  DistToNext 0.000000
    Speed 3, FLAG 1
     time 36.49   tot 145.22
   [ 9]     qtv    move STBD_TURN   dir EAST  loc 2628,187  DistToNext 96.000000
    Speed 3, FLAG 1
     time  0.00   tot 145.22
   [10]     qtv    move FORWARD   dir EAST  loc 2724,187  DistToNext 0.000000
    Speed 5, FLAG 1
     time 34.56   tot 179.78
  End Path <===
* ==> Start Path
   [ 0]     qtv    move PORT_TURN   dir SOUTH_EAST  loc 1028,402  DistToNext 50.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir SOUTH_EAST  loc 1063,367  DistToNext 0.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
   [ 2]     qtv    move STBD_TURN   dir SOUTH  loc 1063,367  DistToNext 50.000000
    Speed 0, FLAG 1
     time  0.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir NORTH  loc 1825,581  DistToNext 50.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir NORTH  loc 1860,546  DistToNext 50.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir WEST  loc 3900,-2667  DistToNext 0.000000
    Speed 2, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move PORT_TURN   dir SOUTH_WEST  loc 3900,-2667  DistToNext 59.396969
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move FORWARD   dir SOUTH_WEST  loc 3858,-2709  DistToNext 0.000000
    Speed 3, FLAG 1
     time 35.64   tot 35.64
   [ 3]     qtv    move PORT_TURN   dir SOUTH  loc 3858,-2709  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot 35.64
   [ 4]     qtv    move FORWARD   dir SOUTH  loc 3858,-2769  DistToNext 0.000000
    Speed 5, FLAG 1
     time 21.60   tot 57.24
   [ 5]     qtv    move PORT_TURN   dir SOUTH_EAST  loc 3858,-2769  DistToNext 59.396969
    Speed 0, FLAG 1
     time  0.00   tot 57.24
   [ 6]     qtv    move FORWARD   dir SOUTH_EAST  loc 3900,-2811  DistToNext 0.000000
    Speed 4, FLAG 1
     time 26.73   tot 83.97
   [ 7]     qtv    move PORT_TURN   dir EAST  loc 3900,-2811  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot 83.97
   [ 8]     qtv    move FORWARD   dir EAST  loc 3960,-2811  DistToNext 0.000000
    Speed 5, FLAG 1
     time 21.60   tot 105.57
   [ 9]     qtv    move PORT_TURN   dir NORTH_EAST  loc 3960,-2811  DistToNext 59.396969
    Speed 0, FLAG 1
     time  0.00   tot 105.57
   [10]     qtv    move FORWARD   dir NORTH_EAST  loc 4002,-2769  DistToNext 0.000000
    Speed 3, FLAG 1
     time 35.64   tot 141.20
   [11]     qtv    move PORT_TURN   dir NORTH  loc 4002,-2769  DistToNext 42.000000
    Speed 0, FLAG 1
     time  0.00   tot 141.20
   [12]     qtv    move FORWARD   dir NORTH  loc 4002,-2727  DistToNext 25.000000
    Speed 2, FLAG 1
     time 37.80   tot 179.00
   [13]     qtv    move FORWARD   dir NORTH  loc 4002,-2752  DistToNext 0.000000
    Speed 2, FLAG 2
     time 22.50   tot 201.50
  End Path <===
* ==> Start Path
   [ 0]     qtv    move PORT_TURN   dir NORTH  loc 2213,-97  DistToNext 50.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir NORTH  loc 2248,-132  DistToNext 0.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
   [ 2]     qtv    move STBD_TURN   dir NORTH_EAST  loc 2248,-132  DistToNext 50.000000
    Speed 0, FLAG 1
     time  0.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move STBD_TURN   dir SOUTH_EAST  loc 2244,61  DistToNext 50.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir SOUTH_EAST  loc 2279,26  DistToNext 0.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
   [ 2]     qtv    move PORT_TURN   dir EAST  loc 2279,26  DistToNext 50.000000
    Speed 0, FLAG 1
     time  0.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move STBD_TURN   dir SOUTH  loc 2260,-696  DistToNext 50.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir SOUTH  loc 2295,-731  DistToNext 0.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
   [ 2]     qtv    move PORT_TURN   dir SOUTH_EAST  loc 2295,-731  DistToNext 50.000000
    Speed 0, FLAG 1
     time  0.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move STBD_TURN   dir WEST  loc 1788,95  DistToNext 50.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir WEST  loc 1823,60  DistToNext 0.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
   [ 2]     qtv    move PORT_TURN   dir SOUTH_WEST  loc 1823,60  DistToNext 50.000000
    Speed 0, FLAG 1
     time  0.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move STBD_TURN   dir SOUTH  loc 2565,-1807  DistToNext 50.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir SOUTH  loc 2600,-1842  DistToNext 50.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir WEST  loc 4071,-2779  DistToNext 0.000000
    Speed 2, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move PORT_TURN   dir SOUTH_WEST  loc 4071,-2779  DistToNext 59.396969
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move FORWARD   dir SOUTH_WEST  loc 4029,-2821  DistToNext 0.000000
    Speed 3, FLAG 1
     time 35.64   tot 35.64
   [ 3]     qtv    move PORT_TURN   dir SOUTH  loc 4029,-2821  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot 35.64
   [ 4]     qtv    move FORWARD   dir SOUTH  loc 4029,-2881  DistToNext 0.000000
    Speed 5, FLAG 1
     time 21.60   tot 57.24
   [ 5]     qtv    move PORT_TURN   dir SOUTH_EAST  loc 4029,-2881  DistToNext 59.396969
    Speed 0, FLAG 1
     time  0.00   tot 57.24
   [ 6]     qtv    move FORWARD   dir SOUTH_EAST  loc 4071,-2923  DistToNext 0.000000
    Speed 4, FLAG 1
     time 26.73   tot 83.97
   [ 7]     qtv    move PORT_TURN   dir EAST  loc 4071,-2923  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot 83.97
   [ 8]     qtv    move FORWARD   dir EAST  loc 4131,-2923  DistToNext 0.000000
    Speed 5, FLAG 1
     time 21.60   tot 105.57
   [ 9]     qtv    move PORT_TURN   dir NORTH_EAST  loc 4131,-2923  DistToNext 59.396969
    Speed 0, FLAG 1
     time  0.00   tot 105.57
   [10]     qtv    move FORWARD   dir NORTH_EAST  loc 4173,-2881  DistToNext 0.000000
    Speed 3, FLAG 1
     time 35.64   tot 141.20
   [11]     qtv    move PORT_TURN   dir NORTH  loc 4173,-2881  DistToNext 42.000000
    Speed 0, FLAG 1
     time  0.00   tot 141.20
   [12]     qtv    move FORWARD   dir NORTH  loc 4173,-2839  DistToNext 25.000000
    Speed 2, FLAG 1
     time 37.80   tot 179.00
   [13]     qtv    move FORWARD   dir NORTH  loc 4173,-2864  DistToNext 0.000000
    Speed 2, FLAG 2
     time 22.50   tot 201.50
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir NORTH  loc 1909,589  DistToNext 50.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir NORTH  loc 1944,554  DistToNext 0.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
   [ 2]     qtv    move STBD_TURN   dir NORTH_EAST  loc 1944,554  DistToNext 50.000000
    Speed 0, FLAG 1
     time  0.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir NORTH  loc 2112,-380  DistToNext 50.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir NORTH  loc 2147,-415  DistToNext 0.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
   [ 2]     qtv    move STBD_TURN   dir NORTH_EAST  loc 2147,-415  DistToNext 50.000000
    Speed 0, FLAG 1
     time  0.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir NORTH  loc 3600,-1187  DistToNext 0.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move STBD_TURN   dir NORTH_EAST  loc 3600,-1187  DistToNext 59.396969
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move FORWARD   dir NORTH_EAST  loc 3642,-1145  DistToNext 0.000000
    Speed 2, FLAG 1
     time 53.46   tot 53.46
   [ 3]     qtv    move STBD_TURN   dir EAST  loc 3642,-1145  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot 53.46
   [ 4]     qtv    move FORWARD   dir EAST  loc 3702,-1145  DistToNext 0.000000
    Speed 4, FLAG 1
     time 27.00   tot 80.46
   [ 5]     qtv    move STBD_TURN   dir SOUTH_EAST  loc 3702,-1145  DistToNext 59.396969
    Speed 0, FLAG 1
     time  0.00   tot 80.46
   [ 6]     qtv    move FORWARD   dir SOUTH_EAST  loc 3744,-1187  DistToNext 0.000000
    Speed 3, FLAG 1
     time 35.64   tot 116.09
   [ 7]     qtv    move STBD_TURN   dir SOUTH  loc 3744,-1187  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot 116.09
   [ 8]     qtv    move FORWARD   dir SOUTH  loc 3744,-1247  DistToNext 0.000000
    Speed 4, FLAG 1
     time 27.00   tot 143.09
   [ 9]     qtv    move STBD_TURN   dir SOUTH_WEST  loc 3744,-1247  DistToNext 39.597980
    Speed 0, FLAG 1
     time  0.00   tot 143.09
   [10]     qtv    move FORWARD   dir SOUTH_WEST  loc 3716,-1275  DistToNext 19.798990
    Speed 2, FLAG 1
     time 35.64   tot 178.73
   [11]     qtv    move FORWARD   dir SOUTH_WEST  loc 3730,-1261  DistToNext 0.000000
    Speed 2, FLAG 2
     time 17.82   tot 196.55
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir SOUTH_EAST  loc 2708,-2390  DistToNext 0.000000
    Speed 2, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move PORT_TURN   dir EAST  loc 2708,-2390  DistToNext 140.000000
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move FORWARD   dir EAST  loc 2848,-2390  DistToNext 0.000000
    Speed 2, FLAG 1
     time 126.00   tot 126.00
   [ 3]     qtv    move STBD_TURN   dir SOUTH_EAST  loc 2848,-2390  DistToNext 59.396969
    Speed 0, FLAG 1
     time  0.00   tot 126.00
   [ 4]     qtv    move FORWARD   dir SOUTH_EAST  loc 2890,-2432  DistToNext 49.497475
    Speed 2, FLAG 1
     time 53.46   tot 179.46
   [ 5]     qtv    move FORWARD   dir SOUTH_EAST  loc 2855,-2397  DistToNext 0.000000
    Speed 2, FLAG 2
     time 44.55   tot 224.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir NORTH  loc 2907,-302  DistToNext 0.000000
    Speed 2, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move STBD_TURN   dir NORTH_EAST  loc 2907,-302  DistToNext 69.296463
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move FORWARD   dir NORTH_EAST  loc 2956,-253  DistToNext 0.000000
    Speed 4, FLAG 1
     time 31.18   tot 31.18
   [ 3]     qtv    move STBD_TURN   dir EAST  loc 2956,-253  DistToNext 70.000000
    Speed 0, FLAG 1
     time  0.00   tot 31.18
   [ 4]     qtv    move FORWARD   dir EAST  loc 3026,-253  DistToNext 0.000000
    Speed 6, FLAG 1
     time 21.00   tot 52.18
   [ 5]     qtv    move STBD_TURN   dir SOUTH_EAST  loc 3026,-253  DistToNext 138.592926
    Speed 0, FLAG 1
     time  0.00   tot 52.18
   [ 6]     qtv    move FORWARD   dir SOUTH_EAST  loc 3124,-351  DistToNext 0.000000
    Speed 5, FLAG 1
     time 49.89   tot 102.08
   [ 7]     qtv    move STBD_TURN   dir SOUTH  loc 3124,-351  DistToNext 140.000000
    Speed 0, FLAG 1
     time  0.00   tot 102.08
   [ 8]     qtv    move FORWARD   dir SOUTH  loc 3124,-491  DistToNext 0.000000
    Speed 6, FLAG 1
     time 42.00   tot 144.08
   [ 9]     qtv    move STBD_TURN   dir SOUTH_WEST  loc 3124,-491  DistToNext 77.781746
    Speed 0, FLAG 1
     time  0.00   tot 144.08
   [10]     qtv    move FORWARD   dir SOUTH_WEST  loc 3069,-546  DistToNext 0.000000
    Speed 4, FLAG 1
     time 35.00   tot 179.08
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir NORTH_EAST  loc 2780,-7  DistToNext 0.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move STBD_TURN   dir EAST  loc 2780,-7  DistToNext 140.000000
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move FORWARD   dir EAST  loc 2920,-7  DistToNext 0.000000
    Speed 2, FLAG 1
     time 126.00   tot 126.00
   [ 3]     qtv    move PORT_TURN   dir NORTH_EAST  loc 2920,-7  DistToNext 70.710678
    Speed 0, FLAG 1
     time  0.00   tot 126.00
   [ 4]     qtv    move FORWARD   dir NORTH_EAST  loc 2970,43  DistToNext 0.000000
    Speed 1, FLAG 1
     time 127.28   tot 253.28
   [ 5]     qtv    move PORT_TURN   dir NORTH  loc 2970,43  DistToNext 70.000000
    Speed 1, FLAG 1
     time  0.00   tot 253.28
   [ 6]     qtv    move FORWARD   dir NORTH  loc 2970,113  DistToNext 0.000000
    Speed 1, FLAG 1
     time 126.00   tot 379.28
   [ 7]     qtv    move PORT_TURN   dir NORTH_WEST  loc 2970,113  DistToNext 0.000000
    Speed 1, FLAG 1
     time  0.00   tot 379.28
   [ 8]     qtv    move PORT_TURN   dir WEST  loc 2970,113  DistToNext 70.000000
    Speed 0, FLAG 1
     time  0.00   tot 379.28
   [ 9]     qtv    move FORWARD   dir WEST  loc 2900,113  DistToNext 0.000000
    Speed 1, FLAG 1
     time 126.00   tot 505.28
   [10]     qtv    move STBD_TURN   dir NORTH_WEST  loc 2900,113  DistToNext -90.355339
    Speed 1, FLAG 1
     time  0.00   tot 505.28
   [11]     qtv    move FORWARD   dir NORTH_WEST  loc 2963,50  DistToNext 0.000000
    Speed -1, FLAG 1
     time -325.28   tot 180.00
   [12]     qtv    move STBD_TURN   dir NORTH  loc 2963,50  DistToNext -90.355339
    Speed 0, FLAG 1
     time  0.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir NORTH  loc 2057,-456  DistToNext 50.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir NORTH  loc 2092,-491  DistToNext 0.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
   [ 2]     qtv    move STBD_TURN   dir NORTH_EAST  loc 2092,-491  DistToNext 50.000000
    Speed 0, FLAG 1
     time  0.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move PORT_TURN   dir NORTH  loc 3646,270  DistToNext 60.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir NORTH  loc 3646,330  DistToNext 0.000000
    Speed 1, FLAG 1
     time 108.00   tot 108.00
   [ 2]     qtv    move STBD_TURN   dir NORTH_EAST  loc 3646,330  DistToNext 59.396969
    Speed 0, FLAG 1
     time  0.00   tot 108.00
   [ 3]     qtv    move FORWARD   dir NORTH_EAST  loc 3688,372  DistToNext 0.000000
    Speed 3, FLAG 1
     time 35.64   tot 143.64
   [ 4]     qtv    move STBD_TURN   dir EAST  loc 3688,372  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot 143.64
   [ 5]     qtv    move FORWARD   dir EAST  loc 3748,372  DistToNext 0.000000
    Speed 5, FLAG 1
     time 21.60   tot 165.24
   [ 6]     qtv    move STBD_TURN   dir SOUTH_EAST  loc 3748,372  DistToNext 31.112698
    Speed 0, FLAG 1
     time  0.00   tot 165.24
   [ 7]     qtv    move FORWARD   dir SOUTH_EAST  loc 3770,350  DistToNext 4.242640
    Speed 4, FLAG 1
     time 14.00   tot 179.24
   [ 8]     qtv    move FORWARD   dir SOUTH_EAST  loc 3767,353  DistToNext 0.000000
    Speed 4, FLAG 2
     time  1.91   tot 181.15
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir NORTH  loc 3829,1408  DistToNext 100.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir NORTH  loc 3829,1508  DistToNext 0.000000
    Speed 1, FLAG 1
     time 180.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir SOUTH_WEST  loc 2315,-708  DistToNext 0.000000
    Speed 4, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move STBD_TURN   dir WEST  loc 2315,-708  DistToNext 60.000000
    Speed 4, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move FORWARD   dir WEST  loc 2255,-708  DistToNext 0.000000
    Speed 2, FLAG 1
     time 54.00   tot 54.00
   [ 3]     qtv    move STBD_TURN   dir NORTH_WEST  loc 2255,-708  DistToNext 60.811184
    Speed 2, FLAG 1
     time  0.00   tot 54.00
   [ 4]     qtv    move FORWARD   dir NORTH_WEST  loc 2212,-665  DistToNext 0.000000
    Speed 2, FLAG 1
     time 54.73   tot 108.73
   [ 5]     qtv    move STBD_TURN   dir NORTH  loc 2212,-665  DistToNext 0.000000
    Speed 2, FLAG 1
     time  0.00   tot 108.73
   [ 6]     qtv    move STBD_TURN   dir NORTH_EAST  loc 2212,-665  DistToNext 60.811184
    Speed 0, FLAG 1
     time  0.00   tot 108.73
   [ 7]     qtv    move FORWARD   dir NORTH_EAST  loc 2255,-622  DistToNext 0.000000
    Speed 4, FLAG 1
     time 27.36   tot 136.09
   [ 8]     qtv    move PORT_TURN   dir NORTH  loc 2255,-622  DistToNext 48.000000
    Speed 4, FLAG 1
     time  0.00   tot 136.09
   [ 9]     qtv    move FORWARD   dir NORTH  loc 2255,-574  DistToNext 37.000000
    Speed 2, FLAG 1
     time 43.20   tot 179.29
   [10]     qtv    move FORWARD   dir NORTH  loc 2255,-611  DistToNext 0.000000
    Speed 2, FLAG 2
     time 33.30   tot 212.59
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir NORTH  loc 3501,1209  DistToNext 100.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir NORTH  loc 3501,1309  DistToNext 0.000000
    Speed 1, FLAG 1
     time 180.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir EAST  loc 3585,179  DistToNext 120.000000
    Speed 4, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir EAST  loc 3705,179  DistToNext 0.000000
    Speed 4, FLAG 1
     time 54.00   tot 54.00
   [ 2]     qtv    move PORT_TURN   dir NORTH_EAST  loc 3705,179  DistToNext 60.811184
    Speed 0, FLAG 1
     time  0.00   tot 54.00
   [ 3]     qtv    move FORWARD   dir NORTH_EAST  loc 3748,222  DistToNext 0.000000
    Speed 2, FLAG 1
     time 54.73   tot 108.73
   [ 4]     qtv    move PORT_TURN   dir NORTH  loc 3748,222  DistToNext 60.000000
    Speed 2, FLAG 1
     time  0.00   tot 108.73
   [ 5]     qtv    move FORWARD   dir NORTH  loc 3748,282  DistToNext 0.000000
    Speed 1, FLAG 1
     time 108.00   tot 216.73
   [ 6]     qtv    move PORT_TURN   dir NORTH_WEST  loc 3748,282  DistToNext 0.000000
    Speed 1, FLAG 1
     time  0.00   tot 216.73
   [ 7]     qtv    move PORT_TURN   dir WEST  loc 3748,282  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot 216.73
   [ 8]     qtv    move FORWARD   dir WEST  loc 3688,282  DistToNext 0.000000
    Speed 1, FLAG 1
     time 108.00   tot 324.73
   [ 9]     qtv    move STBD_TURN   dir NORTH_WEST  loc 3688,282  DistToNext -40.202789
    Speed 1, FLAG 1
     time  0.00   tot 324.73
   [10]     qtv    move FORWARD   dir NORTH_WEST  loc 3716,254  DistToNext 0.000000
    Speed -1, FLAG 1
     time -144.73   tot 180.00
   [11]     qtv    move STBD_TURN   dir NORTH  loc 3716,254  DistToNext -40.202789
    Speed 0, FLAG 1
     time  0.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir EAST  loc 3707,571  DistToNext 120.000000
    Speed 3, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir EAST  loc 3827,571  DistToNext 0.000000
    Speed 3, FLAG 1
     time 72.00   tot 72.00
   [ 2]     qtv    move PORT_TURN   dir NORTH_EAST  loc 3827,571  DistToNext 60.811184
    Speed 0, FLAG 1
     time  0.00   tot 72.00
   [ 3]     qtv    move FORWARD   dir NORTH_EAST  loc 3870,614  DistToNext 0.000000
    Speed 1, FLAG 1
     time 109.46   tot 181.46
   [ 4]     qtv    move PORT_TURN   dir NORTH  loc 3870,614  DistToNext 60.000000
    Speed 1, FLAG 1
     time  0.00   tot 181.46
   [ 5]     qtv    move FORWARD   dir NORTH  loc 3870,674  DistToNext 0.000000
    Speed 1, FLAG 1
     time 108.00   tot 289.46
   [ 6]     qtv    move PORT_TURN   dir NORTH_WEST  loc 3870,674  DistToNext 0.000000
    Speed 1, FLAG 1
     time  0.00   tot 289.46
   [ 7]     qtv    move PORT_TURN   dir WEST  loc 3870,674  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot 289.46
   [ 8]     qtv    move FORWARD   dir WEST  loc 3810,674  DistToNext 0.000000
    Speed 1, FLAG 1
     time 108.00   tot 397.46
   [ 9]     qtv    move STBD_TURN   dir NORTH_WEST  loc 3810,674  DistToNext -60.405586
    Speed 1, FLAG 1
     time  0.00   tot 397.46
   [10]     qtv    move FORWARD   dir NORTH_WEST  loc 3852,632  DistToNext -60.405586
    Speed -1, FLAG 1
     time -217.46   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir EAST  loc 2724,187  DistToNext 120.000000
    Speed 5, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir EAST  loc 2844,187  DistToNext 0.000000
    Speed 5, FLAG 1
     time 43.20   tot 43.20
   [ 2]     qtv    move PORT_TURN   dir NORTH_EAST  loc 2844,187  DistToNext 60.811184
    Speed 0, FLAG 1
     time  0.00   tot 43.20
   [ 3]     qtv    move FORWARD   dir NORTH_EAST  loc 2887,230  DistToNext 0.000000
    Speed 3, FLAG 1
     time 36.49   tot 79.69
   [ 4]     qtv    move PORT_TURN   dir NORTH  loc 2887,230  DistToNext 60.000000
    Speed 3, FLAG 1
     time  0.00   tot 79.69
   [ 5]     qtv    move FORWARD   dir NORTH  loc 2887,290  DistToNext 0.000000
    Speed 2, FLAG 1
     time 54.00   tot 133.69
   [ 6]     qtv    move PORT_TURN   dir NORTH_WEST  loc 2887,290  DistToNext 0.000000
    Speed 2, FLAG 1
     time  0.00   tot 133.69
   [ 7]     qtv    move PORT_TURN   dir WEST  loc 2887,290  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot 133.69
   [ 8]     qtv    move FORWARD   dir WEST  loc 2827,290  DistToNext 0.000000
    Speed 2, FLAG 1
     time 54.00   tot 187.69
   [ 9]     qtv    move STBD_TURN   dir NORTH_WEST  loc 2827,290  DistToNext -2.135196
    Speed 2, FLAG 1
     time  0.00   tot 187.69
   [10]     qtv    move FORWARD   dir NORTH_WEST  loc 2828,289  DistToNext -2.135196
    Speed -1, FLAG 1
     time -7.69   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move STBD_TURN   dir SOUTH  loc 1063,367  DistToNext 50.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir SOUTH  loc 1098,332  DistToNext 0.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
   [ 2]     qtv    move PORT_TURN   dir SOUTH_EAST  loc 1098,332  DistToNext 50.000000
    Speed 0, FLAG 1
     time  0.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir NORTH  loc 1860,546  DistToNext 50.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir NORTH  loc 1895,511  DistToNext 0.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
   [ 2]     qtv    move STBD_TURN   dir NORTH_EAST  loc 1895,511  DistToNext 50.000000
    Speed 0, FLAG 1
     time  0.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir NORTH  loc 4002,-2727  DistToNext 0.000000
    Speed 2, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move STBD_TURN   dir NORTH_EAST  loc 4002,-2727  DistToNext 59.396969
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move FORWARD   dir NORTH_EAST  loc 4044,-2685  DistToNext 0.000000
    Speed 3, FLAG 1
     time 35.64   tot 35.64
   [ 3]     qtv    move STBD_TURN   dir EAST  loc 4044,-2685  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot 35.64
   [ 4]     qtv    move FORWARD   dir EAST  loc 4104,-2685  DistToNext 0.000000
    Speed 5, FLAG 1
     time 21.60   tot 57.24
   [ 5]     qtv    move STBD_TURN   dir SOUTH_EAST  loc 4104,-2685  DistToNext 59.396969
    Speed 0, FLAG 1
     time  0.00   tot 57.24
   [ 6]     qtv    move FORWARD   dir SOUTH_EAST  loc 4146,-2727  DistToNext 0.000000
    Speed 4, FLAG 1
     time 26.73   tot 83.97
   [ 7]     qtv    move STBD_TURN   dir SOUTH  loc 4146,-2727  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot 83.97
   [ 8]     qtv    move FORWARD   dir SOUTH  loc 4146,-2787  DistToNext 0.000000
    Speed 5, FLAG 1
     time 21.60   tot 105.57
   [ 9]     qtv    move STBD_TURN   dir SOUTH_WEST  loc 4146,-2787  DistToNext 59.396969
    Speed 0, FLAG 1
     time  0.00   tot 105.57
   [10]     qtv    move FORWARD   dir SOUTH_WEST  loc 4104,-2829  DistToNext 0.000000
    Speed 3, FLAG 1
     time 35.64   tot 141.20
   [11]     qtv    move STBD_TURN   dir WEST  loc 4104,-2829  DistToNext 42.000000
    Speed 0, FLAG 1
     time  0.00   tot 141.20
   [12]     qtv    move FORWARD   dir WEST  loc 4062,-2829  DistToNext 25.000000
    Speed 2, FLAG 1
     time 37.80   tot 179.00
   [13]     qtv    move FORWARD   dir WEST  loc 4087,-2829  DistToNext 0.000000
    Speed 2, FLAG 2
     time 22.50   tot 201.50
  End Path <===
* ==> Start Path
   [ 0]     qtv    move STBD_TURN   dir NORTH_EAST  loc 2248,-132  DistToNext 50.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir NORTH_EAST  loc 2283,-167  DistToNext 0.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
   [ 2]     qtv    move STBD_TURN   dir EAST  loc 2283,-167  DistToNext 50.000000
    Speed 0, FLAG 1
     time  0.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move PORT_TURN   dir EAST  loc 2279,26  DistToNext 50.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir EAST  loc 2314,-9  DistToNext 0.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
   [ 2]     qtv    move PORT_TURN   dir NORTH_EAST  loc 2314,-9  DistToNext 50.000000
    Speed 0, FLAG 1
     time  0.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move PORT_TURN   dir SOUTH_EAST  loc 2205,-641  DistToNext 50.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir SOUTH_EAST  loc 2240,-676  DistToNext 0.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
   [ 2]     qtv    move STBD_TURN   dir SOUTH  loc 2240,-676  DistToNext 50.000000
    Speed 0, FLAG 1
     time  0.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move PORT_TURN   dir SOUTH_WEST  loc 1823,60  DistToNext 50.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir SOUTH_WEST  loc 1858,25  DistToNext 0.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
   [ 2]     qtv    move STBD_TURN   dir WEST  loc 1858,25  DistToNext 50.000000
    Speed 0, FLAG 1
     time  0.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir SOUTH  loc 2600,-1842  DistToNext 50.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir SOUTH  loc 2635,-1877  DistToNext 0.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
   [ 2]     qtv    move PORT_TURN   dir SOUTH_EAST  loc 2635,-1877  DistToNext 50.000000
    Speed 0, FLAG 1
     time  0.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir NORTH  loc 4173,-2839  DistToNext 0.000000
    Speed 2, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move STBD_TURN   dir NORTH_EAST  loc 4173,-2839  DistToNext 59.396969
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move FORWARD   dir NORTH_EAST  loc 4215,-2797  DistToNext 0.000000
    Speed 3, FLAG 1
     time 35.64   tot 35.64
   [ 3]     qtv    move STBD_TURN   dir EAST  loc 4215,-2797  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot 35.64
   [ 4]     qtv    move FORWARD   dir EAST  loc 4275,-2797  DistToNext 0.000000
    Speed 5, FLAG 1
     time 21.60   tot 57.24
   [ 5]     qtv    move STBD_TURN   dir SOUTH_EAST  loc 4275,-2797  DistToNext 59.396969
    Speed 0, FLAG 1
     time  0.00   tot 57.24
   [ 6]     qtv    move FORWARD   dir SOUTH_EAST  loc 4317,-2839  DistToNext 0.000000
    Speed 4, FLAG 1
     time 26.73   tot 83.97
   [ 7]     qtv    move STBD_TURN   dir SOUTH  loc 4317,-2839  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot 83.97
   [ 8]     qtv    move FORWARD   dir SOUTH  loc 4317,-2899  DistToNext 0.000000
    Speed 5, FLAG 1
     time 21.60   tot 105.57
   [ 9]     qtv    move STBD_TURN   dir SOUTH_WEST  loc 4317,-2899  DistToNext 59.396969
    Speed 0, FLAG 1
     time  0.00   tot 105.57
   [10]     qtv    move FORWARD   dir SOUTH_WEST  loc 4275,-2941  DistToNext 0.000000
    Speed 3, FLAG 1
     time 35.64   tot 141.20
   [11]     qtv    move STBD_TURN   dir WEST  loc 4275,-2941  DistToNext 42.000000
    Speed 0, FLAG 1
     time  0.00   tot 141.20
   [12]     qtv    move FORWARD   dir WEST  loc 4233,-2941  DistToNext 25.000000
    Speed 2, FLAG 1
     time 37.80   tot 179.00
   [13]     qtv    move FORWARD   dir WEST  loc 4258,-2941  DistToNext 0.000000
    Speed 2, FLAG 2
     time 22.50   tot 201.50
  End Path <===
* ==> Start Path
   [ 0]     qtv    move STBD_TURN   dir NORTH_EAST  loc 1944,554  DistToNext 50.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir NORTH_EAST  loc 1979,519  DistToNext 50.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move STBD_TURN   dir NORTH_EAST  loc 2147,-415  DistToNext 50.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir NORTH_EAST  loc 2182,-450  DistToNext 0.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
   [ 2]     qtv    move PORT_TURN   dir NORTH  loc 2182,-450  DistToNext 50.000000
    Speed 0, FLAG 1
     time  0.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir SOUTH_WEST  loc 3716,-1275  DistToNext 0.000000
    Speed 2, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move PORT_TURN   dir SOUTH  loc 3716,-1275  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move FORWARD   dir SOUTH  loc 3716,-1335  DistToNext 0.000000
    Speed 3, FLAG 1
     time 36.00   tot 36.00
   [ 3]     qtv    move PORT_TURN   dir SOUTH_EAST  loc 3716,-1335  DistToNext 59.396969
    Speed 0, FLAG 1
     time  0.00   tot 36.00
   [ 4]     qtv    move FORWARD   dir SOUTH_EAST  loc 3758,-1377  DistToNext 0.000000
    Speed 2, FLAG 1
     time 53.46   tot 89.46
   [ 5]     qtv    move STBD_TURN   dir SOUTH  loc 3758,-1377  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot 89.46
   [ 6]     qtv    move FORWARD   dir SOUTH  loc 3758,-1437  DistToNext 0.000000
    Speed 3, FLAG 1
     time 36.00   tot 125.46
   [ 7]     qtv    move STBD_TURN   dir SOUTH_WEST  loc 3758,-1437  DistToNext 59.396969
    Speed 0, FLAG 1
     time  0.00   tot 125.46
   [ 8]     qtv    move FORWARD   dir SOUTH_WEST  loc 3716,-1479  DistToNext 0.000000
    Speed 2, FLAG 1
     time 53.46   tot 178.91
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir SOUTH_EAST  loc 2890,-2432  DistToNext 0.000000
    Speed 2, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move PORT_TURN   dir EAST  loc 2890,-2432  DistToNext 140.000000
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move FORWARD   dir EAST  loc 3030,-2432  DistToNext 0.000000
    Speed 2, FLAG 1
     time 126.00   tot 126.00
   [ 3]     qtv    move STBD_TURN   dir SOUTH_EAST  loc 3030,-2432  DistToNext 59.396969
    Speed 0, FLAG 1
     time  0.00   tot 126.00
   [ 4]     qtv    move FORWARD   dir SOUTH_EAST  loc 3072,-2474  DistToNext 49.497475
    Speed 2, FLAG 1
     time 53.46   tot 179.46
   [ 5]     qtv    move FORWARD   dir SOUTH_EAST  loc 3037,-2439  DistToNext 0.000000
    Speed 2, FLAG 2
     time 44.55   tot 224.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir SOUTH_WEST  loc 3069,-546  DistToNext 0.000000
    Speed 4, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move PORT_TURN   dir SOUTH  loc 3069,-546  DistToNext 70.000000
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move FORWARD   dir SOUTH  loc 3069,-616  DistToNext 0.000000
    Speed 6, FLAG 1
     time 21.00   tot 21.00
   [ 3]     qtv    move PORT_TURN   dir SOUTH_EAST  loc 3069,-616  DistToNext 69.296463
    Speed 0, FLAG 1
     time  0.00   tot 21.00
   [ 4]     qtv    move FORWARD   dir SOUTH_EAST  loc 3118,-665  DistToNext 0.000000
    Speed 5, FLAG 1
     time 24.95   tot 45.95
   [ 5]     qtv    move PORT_TURN   dir EAST  loc 3118,-665  DistToNext 140.000000
    Speed 0, FLAG 1
     time  0.00   tot 45.95
   [ 6]     qtv    move FORWARD   dir EAST  loc 3258,-665  DistToNext 0.000000
    Speed 6, FLAG 1
     time 42.00   tot 87.95
   [ 7]     qtv    move PORT_TURN   dir NORTH_EAST  loc 3258,-665  DistToNext 70.710678
    Speed 0, FLAG 1
     time  0.00   tot 87.95
   [ 8]     qtv    move FORWARD   dir NORTH_EAST  loc 3308,-615  DistToNext 0.000000
    Speed 4, FLAG 1
     time 31.82   tot 119.77
   [ 9]     qtv    move PORT_TURN   dir NORTH  loc 3308,-615  DistToNext 70.000000
    Speed 4, FLAG 1
     time  0.00   tot 119.77
   [10]     qtv    move FORWARD   dir NORTH  loc 3308,-545  DistToNext 0.000000
    Speed 2, FLAG 1
     time 63.00   tot 182.77
   [11]     qtv    move PORT_TURN   dir NORTH_WEST  loc 3308,-545  DistToNext 0.000000
    Speed 2, FLAG 1
     time  0.00   tot 182.77
   [12]     qtv    move PORT_TURN   dir WEST  loc 3308,-545  DistToNext 70.000000
    Speed 0, FLAG 1
     time  0.00   tot 182.77
   [13]     qtv    move FORWARD   dir WEST  loc 3238,-545  DistToNext 0.000000
    Speed 2, FLAG 1
     time 63.00   tot 245.76
   [14]     qtv    move STBD_TURN   dir NORTH_WEST  loc 3238,-545  DistToNext -18.268480
    Speed 2, FLAG 1
     time  0.00   tot 245.76
   [15]     qtv    move FORWARD   dir NORTH_WEST  loc 3250,-557  DistToNext 0.000000
    Speed -1, FLAG 1
     time -65.77   tot 180.00
   [16]     qtv    move STBD_TURN   dir NORTH  loc 3250,-557  DistToNext -18.268480
    Speed 0, FLAG 1
     time  0.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move STBD_TURN   dir NORTH_EAST  loc 2963,50  DistToNext 69.296463
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir NORTH_EAST  loc 3012,99  DistToNext 0.000000
    Speed 1, FLAG 1
     time 124.73   tot 124.73
   [ 2]     qtv    move STBD_TURN   dir EAST  loc 3012,99  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot 124.73
   [ 3]     qtv    move FORWARD   dir EAST  loc 3072,99  DistToNext 51.000000
    Speed 2, FLAG 1
     time 54.00   tot 178.73
   [ 4]     qtv    move FORWARD   dir EAST  loc 3021,99  DistToNext 0.000000
    Speed 2, FLAG 2
     time 45.90   tot 224.63
  End Path <===
* ==> Start Path
   [ 0]     qtv    move STBD_TURN   dir NORTH_EAST  loc 2092,-491  DistToNext 50.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir NORTH_EAST  loc 2127,-526  DistToNext 0.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
   [ 2]     qtv    move PORT_TURN   dir NORTH  loc 2127,-526  DistToNext 50.000000
    Speed 0, FLAG 1
     time  0.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move PORT_TURN   dir SOUTH_EAST  loc 3770,350  DistToNext 59.396969
    Speed 4, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir SOUTH_EAST  loc 3812,308  DistToNext 0.000000
    Speed 4, FLAG 1
     time 26.73   tot 26.73
   [ 2]     qtv    move PORT_TURN   dir EAST  loc 3812,308  DistToNext 425.000000
    Speed 0, FLAG 1
     time  0.00   tot 26.73
   [ 3]     qtv    move FORWARD   dir EAST  loc 4237,308  DistToNext 0.000000
    Speed 5, FLAG 1
     time 153.00   tot 179.73
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir NORTH  loc 3829,1508  DistToNext 100.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir NORTH  loc 3829,1608  DistToNext 0.000000
    Speed 1, FLAG 1
     time 180.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir NORTH_WEST  loc 2278,-730  DistToNext 50.000000
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir NORTH_WEST  loc 2313,-765  DistToNext 50.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir NORTH  loc 3501,1309  DistToNext 100.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir NORTH  loc 3501,1409  DistToNext 0.000000
    Speed 1, FLAG 1
     time 180.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move STBD_TURN   dir NORTH  loc 3716,254  DistToNext 60.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir NORTH  loc 3716,314  DistToNext 0.000000
    Speed 1, FLAG 1
     time 108.00   tot 108.00
   [ 2]     qtv    move STBD_TURN   dir NORTH_EAST  loc 3716,314  DistToNext 59.396969
    Speed 0, FLAG 1
     time  0.00   tot 108.00
   [ 3]     qtv    move FORWARD   dir NORTH_EAST  loc 3758,356  DistToNext 0.000000
    Speed 2, FLAG 1
     time 53.46   tot 161.46
   [ 4]     qtv    move STBD_TURN   dir EAST  loc 3758,356  DistToNext 40.000000
    Speed 0, FLAG 1
     time  0.00   tot 161.46
   [ 5]     qtv    move FORWARD   dir EAST  loc 3798,356  DistToNext 21.000000
    Speed 4, FLAG 1
     time 18.00   tot 179.46
   [ 6]     qtv    move FORWARD   dir EAST  loc 3777,356  DistToNext 0.000000
    Speed 4, FLAG 2
     time  9.45   tot 188.91
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir NORTH  loc 3852,632  DistToNext 100.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir NORTH  loc 3852,732  DistToNext 0.000000
    Speed 1, FLAG 1
     time 180.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir WEST  loc 2828,289  DistToNext 0.000000
    Speed 2, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move PORT_TURN   dir SOUTH_WEST  loc 2828,289  DistToNext 0.000000
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move STBD_TURN   dir WEST  loc 2828,289  DistToNext 60.000000
    Speed 2, FLAG 1
     time  0.00   tot  0.00
   [ 3]     qtv    move FORWARD   dir WEST  loc 2768,289  DistToNext 0.000000
    Speed 2, FLAG 1
     time 54.00   tot 54.00
   [ 4]     qtv    move STBD_TURN   dir NORTH_WEST  loc 2768,289  DistToNext 60.811184
    Speed 2, FLAG 1
     time  0.00   tot 54.00
   [ 5]     qtv    move FORWARD   dir NORTH_WEST  loc 2725,332  DistToNext 0.000000
    Speed 2, FLAG 1
     time 54.73   tot 108.73
   [ 6]     qtv    move STBD_TURN   dir NORTH  loc 2725,332  DistToNext 0.000000
    Speed 2, FLAG 1
     time  0.00   tot 108.73
   [ 7]     qtv    move STBD_TURN   dir NORTH_EAST  loc 2725,332  DistToNext 60.811184
    Speed 0, FLAG 1
     time  0.00   tot 108.73
   [ 8]     qtv    move FORWARD   dir NORTH_EAST  loc 2768,375  DistToNext 0.000000
    Speed 3, FLAG 1
     time 36.49   tot 145.22
   [ 9]     qtv    move STBD_TURN   dir EAST  loc 2768,375  DistToNext 96.000000
    Speed 3, FLAG 1
     time  0.00   tot 145.22
   [10]     qtv    move FORWARD   dir EAST  loc 2864,375  DistToNext 0.000000
    Speed 5, FLAG 1
     time 34.56   tot 179.78
  End Path <===
* ==> Start Path
   [ 0]     qtv    move PORT_TURN   dir SOUTH_EAST  loc 1098,332  DistToNext 50.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir SOUTH_EAST  loc 1133,297  DistToNext 0.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
   [ 2]     qtv    move PORT_TURN   dir EAST  loc 1133,297  DistToNext 50.000000
    Speed 0, FLAG 1
     time  0.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move STBD_TURN   dir NORTH_EAST  loc 1895,511  DistToNext 50.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir NORTH_EAST  loc 1930,476  DistToNext 0.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
   [ 2]     qtv    move STBD_TURN   dir EAST  loc 1930,476  DistToNext 50.000000
    Speed 0, FLAG 1
     time  0.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir WEST  loc 4062,-2829  DistToNext 0.000000
    Speed 2, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move PORT_TURN   dir SOUTH_WEST  loc 4062,-2829  DistToNext 59.396969
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move FORWARD   dir SOUTH_WEST  loc 4020,-2871  DistToNext 0.000000
    Speed 3, FLAG 1
     time 35.64   tot 35.64
   [ 3]     qtv    move PORT_TURN   dir SOUTH  loc 4020,-2871  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot 35.64
   [ 4]     qtv    move FORWARD   dir SOUTH  loc 4020,-2931  DistToNext 0.000000
    Speed 5, FLAG 1
     time 21.60   tot 57.24
   [ 5]     qtv    move PORT_TURN   dir SOUTH_EAST  loc 4020,-2931  DistToNext 59.396969
    Speed 0, FLAG 1
     time  0.00   tot 57.24
   [ 6]     qtv    move FORWARD   dir SOUTH_EAST  loc 4062,-2973  DistToNext 0.000000
    Speed 4, FLAG 1
     time 26.73   tot 83.97
   [ 7]     qtv    move PORT_TURN   dir EAST  loc 4062,-2973  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot 83.97
   [ 8]     qtv    move FORWARD   dir EAST  loc 4122,-2973  DistToNext 0.000000
    Speed 5, FLAG 1
     time 21.60   tot 105.57
   [ 9]     qtv    move PORT_TURN   dir NORTH_EAST  loc 4122,-2973  DistToNext 59.396969
    Speed 0, FLAG 1
     time  0.00   tot 105.57
   [10]     qtv    move FORWARD   dir NORTH_EAST  loc 4164,-2931  DistToNext 0.000000
    Speed 3, FLAG 1
     time 35.64   tot 141.20
   [11]     qtv    move PORT_TURN   dir NORTH  loc 4164,-2931  DistToNext 42.000000
    Speed 0, FLAG 1
     time  0.00   tot 141.20
   [12]     qtv    move FORWARD   dir NORTH  loc 4164,-2889  DistToNext 25.000000
    Speed 2, FLAG 1
     time 37.80   tot 179.00
   [13]     qtv    move FORWARD   dir NORTH  loc 4164,-2914  DistToNext 0.000000
    Speed 2, FLAG 2
     time 22.50   tot 201.50
  End Path <===
* ==> Start Path
   [ 0]     qtv    move STBD_TURN   dir EAST  loc 2283,-167  DistToNext 50.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir EAST  loc 2318,-202  DistToNext 0.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
   [ 2]     qtv    move STBD_TURN   dir SOUTH_EAST  loc 2318,-202  DistToNext 50.000000
    Speed 0, FLAG 1
     time  0.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move PORT_TURN   dir NORTH_EAST  loc 2314,-9  DistToNext 50.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir NORTH_EAST  loc 2349,-44  DistToNext 0.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
   [ 2]     qtv    move STBD_TURN   dir EAST  loc 2349,-44  DistToNext 50.000000
    Speed 0, FLAG 1
     time  0.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir SOUTH_EAST  loc 2160,-596  DistToNext 50.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir SOUTH_EAST  loc 2195,-631  DistToNext 0.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
   [ 2]     qtv    move PORT_TURN   dir EAST  loc 2195,-631  DistToNext 50.000000
    Speed 0, FLAG 1
     time  0.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move STBD_TURN   dir WEST  loc 1858,25  DistToNext 50.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir WEST  loc 1893,-10  DistToNext 50.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move PORT_TURN   dir SOUTH_EAST  loc 2635,-1877  DistToNext 50.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir SOUTH_EAST  loc 2670,-1912  DistToNext 0.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
   [ 2]     qtv    move STBD_TURN   dir SOUTH  loc 2670,-1912  DistToNext 50.000000
    Speed 0, FLAG 1
     time  0.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir WEST  loc 4233,-2941  DistToNext 0.000000
    Speed 2, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move PORT_TURN   dir SOUTH_WEST  loc 4233,-2941  DistToNext 59.396969
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move FORWARD   dir SOUTH_WEST  loc 4191,-2983  DistToNext 0.000000
    Speed 3, FLAG 1
     time 35.64   tot 35.64
   [ 3]     qtv    move PORT_TURN   dir SOUTH  loc 4191,-2983  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot 35.64
   [ 4]     qtv    move FORWARD   dir SOUTH  loc 4191,-3043  DistToNext 0.000000
    Speed 5, FLAG 1
     time 21.60   tot 57.24
   [ 5]     qtv    move PORT_TURN   dir SOUTH_EAST  loc 4191,-3043  DistToNext 59.396969
    Speed 0, FLAG 1
     time  0.00   tot 57.24
   [ 6]     qtv    move FORWARD   dir SOUTH_EAST  loc 4233,-3085  DistToNext 0.000000
    Speed 4, FLAG 1
     time 26.73   tot 83.97
   [ 7]     qtv    move PORT_TURN   dir EAST  loc 4233,-3085  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot 83.97
   [ 8]     qtv    move FORWARD   dir EAST  loc 4293,-3085  DistToNext 0.000000
    Speed 5, FLAG 1
     time 21.60   tot 105.57
   [ 9]     qtv    move PORT_TURN   dir NORTH_EAST  loc 4293,-3085  DistToNext 59.396969
    Speed 0, FLAG 1
     time  0.00   tot 105.57
   [10]     qtv    move FORWARD   dir NORTH_EAST  loc 4335,-3043  DistToNext 0.000000
    Speed 3, FLAG 1
     time 35.64   tot 141.20
   [11]     qtv    move PORT_TURN   dir NORTH  loc 4335,-3043  DistToNext 42.000000
    Speed 0, FLAG 1
     time  0.00   tot 141.20
   [12]     qtv    move FORWARD   dir NORTH  loc 4335,-3001  DistToNext 25.000000
    Speed 2, FLAG 1
     time 37.80   tot 179.00
   [13]     qtv    move FORWARD   dir NORTH  loc 4335,-3026  DistToNext 0.000000
    Speed 2, FLAG 2
     time 22.50   tot 201.50
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir NORTH_EAST  loc 1979,519  DistToNext 50.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir NORTH_EAST  loc 2014,484  DistToNext 0.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
   [ 2]     qtv    move PORT_TURN   dir NORTH  loc 2014,484  DistToNext 50.000000
    Speed 0, FLAG 1
     time  0.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move PORT_TURN   dir NORTH  loc 2182,-450  DistToNext 50.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir NORTH  loc 2217,-485  DistToNext 50.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir SOUTH_WEST  loc 3716,-1479  DistToNext 0.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move PORT_TURN   dir SOUTH  loc 3716,-1479  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move FORWARD   dir SOUTH  loc 3716,-1539  DistToNext 0.000000
    Speed 1, FLAG 1
     time 108.00   tot 108.00
   [ 3]     qtv    move PORT_TURN   dir SOUTH_EAST  loc 3716,-1539  DistToNext 39.597980
    Speed 0, FLAG 1
     time  0.00   tot 108.00
   [ 4]     qtv    move FORWARD   dir SOUTH_EAST  loc 3744,-1567  DistToNext 19.798990
    Speed 1, FLAG 1
     time 71.28   tot 179.27
   [ 5]     qtv    move FORWARD   dir SOUTH_EAST  loc 3730,-1553  DistToNext 0.000000
    Speed 1, FLAG 2
     time 35.64   tot 214.91
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir SOUTH_EAST  loc 3072,-2474  DistToNext 0.000000
    Speed 2, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move STBD_TURN   dir SOUTH  loc 3072,-2474  DistToNext 70.000000
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move FORWARD   dir SOUTH  loc 3072,-2544  DistToNext 0.000000
    Speed 2, FLAG 1
     time 63.00   tot 63.00
   [ 3]     qtv    move STBD_TURN   dir SOUTH_WEST  loc 3072,-2544  DistToNext 63.639610
    Speed 0, FLAG 1
     time  0.00   tot 63.00
   [ 4]     qtv    move FORWARD   dir SOUTH_WEST  loc 3027,-2589  DistToNext 59.396969
    Speed 1, FLAG 1
     time 114.55   tot 177.55
   [ 5]     qtv    move FORWARD   dir SOUTH_WEST  loc 3069,-2547  DistToNext 0.000000
    Speed 1, FLAG 2
     time 106.91   tot 284.46
  End Path <===
* ==> Start Path
   [ 0]     qtv    move STBD_TURN   dir WEST  loc 3250,-557  DistToNext 70.000000
    Speed 2, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir WEST  loc 3180,-557  DistToNext 0.000000
    Speed 2, FLAG 1
     time 63.00   tot 63.00
   [ 2]     qtv    move PORT_TURN   dir SOUTH_WEST  loc 3180,-557  DistToNext 69.296463
    Speed 0, FLAG 1
     time  0.00   tot 63.00
   [ 3]     qtv    move FORWARD   dir SOUTH_WEST  loc 3131,-606  DistToNext 0.000000
    Speed 4, FLAG 1
     time 31.18   tot 94.18
   [ 4]     qtv    move PORT_TURN   dir SOUTH  loc 3131,-606  DistToNext 70.000000
    Speed 0, FLAG 1
     time  0.00   tot 94.18
   [ 5]     qtv    move FORWARD   dir SOUTH  loc 3131,-676  DistToNext 0.000000
    Speed 6, FLAG 1
     time 21.00   tot 115.18
   [ 6]     qtv    move PORT_TURN   dir SOUTH_EAST  loc 3131,-676  DistToNext 69.296463
    Speed 0, FLAG 1
     time  0.00   tot 115.18
   [ 7]     qtv    move FORWARD   dir SOUTH_EAST  loc 3180,-725  DistToNext 0.000000
    Speed 5, FLAG 1
     time 24.95   tot 140.13
   [ 8]     qtv    move PORT_TURN   dir EAST  loc 3180,-725  DistToNext 70.000000
    Speed 0, FLAG 1
     time  0.00   tot 140.13
   [ 9]     qtv    move FORWARD   dir EAST  loc 3250,-725  DistToNext 0.000000
    Speed 6, FLAG 1
     time 21.00   tot 161.13
   [10]     qtv    move PORT_TURN   dir NORTH_EAST  loc 3250,-725  DistToNext 39.597980
    Speed 0, FLAG 1
     time  0.00   tot 161.13
   [11]     qtv    move FORWARD   dir NORTH_EAST  loc 3278,-697  DistToNext 11.313708
    Speed 4, FLAG 1
     time 17.82   tot 178.95
   [12]     qtv    move FORWARD   dir NORTH_EAST  loc 3270,-705  DistToNext 0.000000
    Speed 4, FLAG 2
     time  5.09   tot 184.04
  End Path <===
* ==> Start Path
   [ 0]     qtv    move STBD_TURN   dir EAST  loc 3072,99  DistToNext 200.000000
    Speed 2, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir EAST  loc 3272,99  DistToNext 0.000000
    Speed 2, FLAG 1
     time 180.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move PORT_TURN   dir NORTH  loc 2127,-526  DistToNext 50.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir NORTH  loc 2162,-561  DistToNext 0.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
   [ 2]     qtv    move STBD_TURN   dir NORTH_EAST  loc 2162,-561  DistToNext 50.000000
    Speed 0, FLAG 1
     time  0.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir EAST  loc 4237,308  DistToNext 120.000000
    Speed 5, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir EAST  loc 4357,308  DistToNext 0.000000
    Speed 5, FLAG 1
     time 43.20   tot 43.20
   [ 2]     qtv    move PORT_TURN   dir NORTH_EAST  loc 4357,308  DistToNext 60.811184
    Speed 0, FLAG 1
     time  0.00   tot 43.20
   [ 3]     qtv    move FORWARD   dir NORTH_EAST  loc 4400,351  DistToNext 0.000000
    Speed 3, FLAG 1
     time 36.49   tot 79.69
   [ 4]     qtv    move PORT_TURN   dir NORTH  loc 4400,351  DistToNext 60.000000
    Speed 3, FLAG 1
     time  0.00   tot 79.69
   [ 5]     qtv    move FORWARD   dir NORTH  loc 4400,411  DistToNext 0.000000
    Speed 1, FLAG 1
     time 108.00   tot 187.69
   [ 6]     qtv    move PORT_TURN   dir NORTH_WEST  loc 4400,411  DistToNext 0.000000
    Speed 1, FLAG 1
     time  0.00   tot 187.69
   [ 7]     qtv    move PORT_TURN   dir WEST  loc 4400,411  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot 187.69
   [ 8]     qtv    move FORWARD   dir WEST  loc 4340,411  DistToNext 0.000000
    Speed 1, FLAG 1
     time 108.00   tot 295.68
   [ 9]     qtv    move STBD_TURN   dir NORTH_WEST  loc 4340,411  DistToNext -32.135197
    Speed 1, FLAG 1
     time  0.00   tot 295.68
   [10]     qtv    move FORWARD   dir NORTH_WEST  loc 4362,389  DistToNext 0.000000
    Speed -1, FLAG 1
     time -115.69   tot 180.00
   [11]     qtv    move STBD_TURN   dir NORTH  loc 4362,389  DistToNext -32.135197
    Speed 0, FLAG 1
     time  0.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir NORTH  loc 3829,1608  DistToNext 100.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir NORTH  loc 3829,1708  DistToNext 0.000000
    Speed 1, FLAG 1
     time 180.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir NORTH_WEST  loc 2313,-765  DistToNext 50.000000
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir NORTH_WEST  loc 2348,-800  DistToNext 0.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
   [ 2]     qtv    move STBD_TURN   dir NORTH  loc 2348,-800  DistToNext 50.000000
    Speed 0, FLAG 1
     time  0.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir NORTH  loc 3501,1409  DistToNext 100.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir NORTH  loc 3501,1509  DistToNext 0.000000
    Speed 1, FLAG 1
     time 180.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move STBD_TURN   dir EAST  loc 3798,356  DistToNext 60.000000
    Speed 4, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir EAST  loc 3858,356  DistToNext 0.000000
    Speed 4, FLAG 1
     time 27.00   tot 27.00
   [ 2]     qtv    move STBD_TURN   dir SOUTH_EAST  loc 3858,356  DistToNext 251.730011
    Speed 0, FLAG 1
     time  0.00   tot 27.00
   [ 3]     qtv    move FORWARD   dir SOUTH_EAST  loc 4036,178  DistToNext 29.698484
    Speed 3, FLAG 1
     time 151.04   tot 178.04
   [ 4]     qtv    move FORWARD   dir SOUTH_EAST  loc 4057,157  DistToNext 0.000000
    Speed 3, FLAG 2
     time 17.82   tot 195.86
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir NORTH  loc 3852,732  DistToNext 100.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir NORTH  loc 3852,832  DistToNext 0.000000
    Speed 1, FLAG 1
     time 180.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir EAST  loc 2864,375  DistToNext 0.000000
    Speed 5, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move STBD_TURN   dir SOUTH_EAST  loc 2864,375  DistToNext 398.808228
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move FORWARD   dir SOUTH_EAST  loc 3146,93  DistToNext 0.000000
    Speed 4, FLAG 1
     time 179.46   tot 179.46
  End Path <===
* ==> Start Path
   [ 0]     qtv    move PORT_TURN   dir EAST  loc 1133,297  DistToNext 50.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir EAST  loc 1168,262  DistToNext 0.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
   [ 2]     qtv    move PORT_TURN   dir NORTH_EAST  loc 1168,262  DistToNext 50.000000
    Speed 0, FLAG 1
     time  0.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move STBD_TURN   dir EAST  loc 1930,476  DistToNext 50.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir EAST  loc 1965,441  DistToNext 50.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir NORTH  loc 4164,-2889  DistToNext 0.000000
    Speed 2, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move STBD_TURN   dir NORTH_EAST  loc 4164,-2889  DistToNext 59.396969
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move FORWARD   dir NORTH_EAST  loc 4206,-2847  DistToNext 0.000000
    Speed 3, FLAG 1
     time 35.64   tot 35.64
   [ 3]     qtv    move STBD_TURN   dir EAST  loc 4206,-2847  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot 35.64
   [ 4]     qtv    move FORWARD   dir EAST  loc 4266,-2847  DistToNext 0.000000
    Speed 5, FLAG 1
     time 21.60   tot 57.24
   [ 5]     qtv    move STBD_TURN   dir SOUTH_EAST  loc 4266,-2847  DistToNext 59.396969
    Speed 0, FLAG 1
     time  0.00   tot 57.24
   [ 6]     qtv    move FORWARD   dir SOUTH_EAST  loc 4308,-2889  DistToNext 0.000000
    Speed 4, FLAG 1
     time 26.73   tot 83.97
   [ 7]     qtv    move STBD_TURN   dir SOUTH  loc 4308,-2889  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot 83.97
   [ 8]     qtv    move FORWARD   dir SOUTH  loc 4308,-2949  DistToNext 0.000000
    Speed 5, FLAG 1
     time 21.60   tot 105.57
   [ 9]     qtv    move STBD_TURN   dir SOUTH_WEST  loc 4308,-2949  DistToNext 59.396969
    Speed 0, FLAG 1
     time  0.00   tot 105.57
   [10]     qtv    move FORWARD   dir SOUTH_WEST  loc 4266,-2991  DistToNext 0.000000
    Speed 3, FLAG 1
     time 35.64   tot 141.20
   [11]     qtv    move STBD_TURN   dir WEST  loc 4266,-2991  DistToNext 42.000000
    Speed 0, FLAG 1
     time  0.00   tot 141.20
   [12]     qtv    move FORWARD   dir WEST  loc 4224,-2991  DistToNext 25.000000
    Speed 2, FLAG 1
     time 37.80   tot 179.00
   [13]     qtv    move FORWARD   dir WEST  loc 4249,-2991  DistToNext 0.000000
    Speed 2, FLAG 2
     time 22.50   tot 201.50
  End Path <===
* ==> Start Path
   [ 0]     qtv    move STBD_TURN   dir SOUTH_EAST  loc 2318,-202  DistToNext 50.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir SOUTH_EAST  loc 2353,-237  DistToNext 0.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
   [ 2]     qtv    move STBD_TURN   dir SOUTH  loc 2353,-237  DistToNext 50.000000
    Speed 0, FLAG 1
     time  0.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move STBD_TURN   dir EAST  loc 2349,-44  DistToNext 50.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir EAST  loc 2384,-79  DistToNext 0.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
   [ 2]     qtv    move STBD_TURN   dir SOUTH_EAST  loc 2384,-79  DistToNext 50.000000
    Speed 0, FLAG 1
     time  0.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move PORT_TURN   dir EAST  loc 2195,-631  DistToNext 50.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir EAST  loc 2230,-666  DistToNext 0.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
   [ 2]     qtv    move STBD_TURN   dir SOUTH_EAST  loc 2230,-666  DistToNext 50.000000
    Speed 0, FLAG 1
     time  0.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir WEST  loc 1893,-10  DistToNext 50.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir WEST  loc 1928,-45  DistToNext 0.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
   [ 2]     qtv    move PORT_TURN   dir SOUTH_WEST  loc 1928,-45  DistToNext 50.000000
    Speed 0, FLAG 1
     time  0.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move STBD_TURN   dir SOUTH  loc 2670,-1912  DistToNext 50.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir SOUTH  loc 2705,-1947  DistToNext 0.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
   [ 2]     qtv    move STBD_TURN   dir SOUTH_WEST  loc 2705,-1947  DistToNext 50.000000
    Speed 0, FLAG 1
     time  0.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir NORTH  loc 4335,-3001  DistToNext 0.000000
    Speed 2, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move STBD_TURN   dir NORTH_EAST  loc 4335,-3001  DistToNext 59.396969
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move FORWARD   dir NORTH_EAST  loc 4377,-2959  DistToNext 0.000000
    Speed 3, FLAG 1
     time 35.64   tot 35.64
   [ 3]     qtv    move STBD_TURN   dir EAST  loc 4377,-2959  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot 35.64
   [ 4]     qtv    move FORWARD   dir EAST  loc 4437,-2959  DistToNext 0.000000
    Speed 5, FLAG 1
     time 21.60   tot 57.24
   [ 5]     qtv    move STBD_TURN   dir SOUTH_EAST  loc 4437,-2959  DistToNext 59.396969
    Speed 0, FLAG 1
     time  0.00   tot 57.24
   [ 6]     qtv    move FORWARD   dir SOUTH_EAST  loc 4479,-3001  DistToNext 0.000000
    Speed 4, FLAG 1
     time 26.73   tot 83.97
   [ 7]     qtv    move STBD_TURN   dir SOUTH  loc 4479,-3001  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot 83.97
   [ 8]     qtv    move FORWARD   dir SOUTH  loc 4479,-3061  DistToNext 0.000000
    Speed 5, FLAG 1
     time 21.60   tot 105.57
   [ 9]     qtv    move STBD_TURN   dir SOUTH_WEST  loc 4479,-3061  DistToNext 59.396969
    Speed 0, FLAG 1
     time  0.00   tot 105.57
   [10]     qtv    move FORWARD   dir SOUTH_WEST  loc 4437,-3103  DistToNext 0.000000
    Speed 3, FLAG 1
     time 35.64   tot 141.20
   [11]     qtv    move STBD_TURN   dir WEST  loc 4437,-3103  DistToNext 42.000000
    Speed 0, FLAG 1
     time  0.00   tot 141.20
   [12]     qtv    move FORWARD   dir WEST  loc 4395,-3103  DistToNext 25.000000
    Speed 2, FLAG 1
     time 37.80   tot 179.00
   [13]     qtv    move FORWARD   dir WEST  loc 4420,-3103  DistToNext 0.000000
    Speed 2, FLAG 2
     time 22.50   tot 201.50
  End Path <===
* ==> Start Path
   [ 0]     qtv    move PORT_TURN   dir NORTH  loc 2014,484  DistToNext 50.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir NORTH  loc 2049,449  DistToNext 50.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir NORTH  loc 2217,-485  DistToNext 50.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir NORTH  loc 2252,-520  DistToNext 50.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir SOUTH_EAST  loc 3744,-1567  DistToNext 0.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move STBD_TURN   dir SOUTH  loc 3744,-1567  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move FORWARD   dir SOUTH  loc 3744,-1627  DistToNext 0.000000
    Speed 1, FLAG 1
     time 108.00   tot 108.00
   [ 3]     qtv    move STBD_TURN   dir SOUTH_WEST  loc 3744,-1627  DistToNext 39.597980
    Speed 0, FLAG 1
     time  0.00   tot 108.00
   [ 4]     qtv    move FORWARD   dir SOUTH_WEST  loc 3716,-1655  DistToNext 19.798990
    Speed 1, FLAG 1
     time 71.28   tot 179.27
   [ 5]     qtv    move FORWARD   dir SOUTH_WEST  loc 3730,-1641  DistToNext 0.000000
    Speed 1, FLAG 2
     time 35.64   tot 214.91
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir SOUTH_WEST  loc 3027,-2589  DistToNext 0.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move STBD_TURN   dir WEST  loc 3027,-2589  DistToNext 100.000000
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move FORWARD   dir WEST  loc 2927,-2589  DistToNext 0.000000
    Speed 1, FLAG 1
     time 180.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move STBD_TURN   dir NORTH_EAST  loc 3278,-697  DistToNext 69.296463
    Speed 4, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir NORTH_EAST  loc 3327,-648  DistToNext 0.000000
    Speed 4, FLAG 1
     time 31.18   tot 31.18
   [ 2]     qtv    move STBD_TURN   dir EAST  loc 3327,-648  DistToNext 495.000000
    Speed 0, FLAG 1
     time  0.00   tot 31.18
   [ 3]     qtv    move FORWARD   dir EAST  loc 3822,-648  DistToNext 0.000000
    Speed 6, FLAG 1
     time 148.50   tot 179.68
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir EAST  loc 3272,99  DistToNext 140.000000
    Speed 2, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir EAST  loc 3412,99  DistToNext 0.000000
    Speed 2, FLAG 1
     time 126.00   tot 126.00
   [ 2]     qtv    move PORT_TURN   dir NORTH_EAST  loc 3412,99  DistToNext 70.710678
    Speed 0, FLAG 1
     time  0.00   tot 126.00
   [ 3]     qtv    move FORWARD   dir NORTH_EAST  loc 3462,149  DistToNext 0.000000
    Speed 1, FLAG 1
     time 127.28   tot 253.28
   [ 4]     qtv    move PORT_TURN   dir NORTH  loc 3462,149  DistToNext 70.000000
    Speed 1, FLAG 1
     time  0.00   tot 253.28
   [ 5]     qtv    move FORWARD   dir NORTH  loc 3462,219  DistToNext 0.000000
    Speed 1, FLAG 1
     time 126.00   tot 379.28
   [ 6]     qtv    move PORT_TURN   dir NORTH_WEST  loc 3462,219  DistToNext 0.000000
    Speed 1, FLAG 1
     time  0.00   tot 379.28
   [ 7]     qtv    move PORT_TURN   dir WEST  loc 3462,219  DistToNext 70.000000
    Speed 0, FLAG 1
     time  0.00   tot 379.28
   [ 8]     qtv    move FORWARD   dir WEST  loc 3392,219  DistToNext 0.000000
    Speed 1, FLAG 1
     time 126.00   tot 505.28
   [ 9]     qtv    move STBD_TURN   dir NORTH_WEST  loc 3392,219  DistToNext -90.355339
    Speed 1, FLAG 1
     time  0.00   tot 505.28
   [10]     qtv    move FORWARD   dir NORTH_WEST  loc 3455,156  DistToNext 0.000000
    Speed -1, FLAG 1
     time -325.28   tot 180.00
   [11]     qtv    move PORT_TURN   dir WEST  loc 3455,156  DistToNext -90.355339
    Speed 0, FLAG 1
     time  0.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move STBD_TURN   dir NORTH_EAST  loc 2162,-561  DistToNext 50.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir NORTH_EAST  loc 2197,-596  DistToNext 0.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
   [ 2]     qtv    move PORT_TURN   dir NORTH  loc 2197,-596  DistToNext 50.000000
    Speed 0, FLAG 1
     time  0.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move STBD_TURN   dir NORTH  loc 4362,389  DistToNext 100.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir NORTH  loc 4362,489  DistToNext 0.000000
    Speed 1, FLAG 1
     time 180.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir NORTH  loc 3829,1708  DistToNext 100.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir NORTH  loc 3829,1808  DistToNext 0.000000
    Speed 1, FLAG 1
     time 180.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move STBD_TURN   dir NORTH  loc 2348,-800  DistToNext 60.000000
    Speed 2, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir NORTH  loc 2348,-740  DistToNext 0.000000
    Speed 2, FLAG 1
     time 54.00   tot 54.00
   [ 2]     qtv    move STBD_TURN   dir NORTH_EAST  loc 2348,-740  DistToNext 59.396969
    Speed 0, FLAG 1
     time  0.00   tot 54.00
   [ 3]     qtv    move FORWARD   dir NORTH_EAST  loc 2390,-698  DistToNext 0.000000
    Speed 4, FLAG 1
     time 26.73   tot 80.73
   [ 4]     qtv    move STBD_TURN   dir EAST  loc 2390,-698  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot 80.73
   [ 5]     qtv    move FORWARD   dir EAST  loc 2450,-698  DistToNext 0.000000
    Speed 6, FLAG 1
     time 18.00   tot 98.73
   [ 6]     qtv    move STBD_TURN   dir SOUTH_EAST  loc 2450,-698  DistToNext 223.445740
    Speed 0, FLAG 1
     time  0.00   tot 98.73
   [ 7]     qtv    move FORWARD   dir SOUTH_EAST  loc 2608,-856  DistToNext 0.000000
    Speed 5, FLAG 1
     time 80.44   tot 179.17
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir NORTH  loc 3501,1509  DistToNext 100.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir NORTH  loc 3501,1609  DistToNext 0.000000
    Speed 1, FLAG 1
     time 180.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move STBD_TURN   dir SOUTH_EAST  loc 4036,178  DistToNext 59.396969
    Speed 3, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir SOUTH_EAST  loc 4078,136  DistToNext 0.000000
    Speed 3, FLAG 1
     time 35.64   tot 35.64
   [ 2]     qtv    move PORT_TURN   dir EAST  loc 4078,136  DistToNext 320.000000
    Speed 0, FLAG 1
     time  0.00   tot 35.64
   [ 3]     qtv    move FORWARD   dir EAST  loc 4398,136  DistToNext 0.000000
    Speed 4, FLAG 1
     time 144.00   tot 179.64
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir NORTH  loc 3852,832  DistToNext 100.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir NORTH  loc 3852,932  DistToNext 0.000000
    Speed 1, FLAG 1
     time 180.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir SOUTH_EAST  loc 3146,93  DistToNext 0.000000
    Speed 4, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move PORT_TURN   dir EAST  loc 3146,93  DistToNext 120.000000
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move FORWARD   dir EAST  loc 3266,93  DistToNext 0.000000
    Speed 5, FLAG 1
     time 43.20   tot 43.20
   [ 3]     qtv    move PORT_TURN   dir NORTH_EAST  loc 3266,93  DistToNext 60.811184
    Speed 0, FLAG 1
     time  0.00   tot 43.20
   [ 4]     qtv    move FORWARD   dir NORTH_EAST  loc 3309,136  DistToNext 0.000000
    Speed 3, FLAG 1
     time 36.49   tot 79.69
   [ 5]     qtv    move PORT_TURN   dir NORTH  loc 3309,136  DistToNext 60.000000
    Speed 3, FLAG 1
     time  0.00   tot 79.69
   [ 6]     qtv    move FORWARD   dir NORTH  loc 3309,196  DistToNext 0.000000
    Speed 2, FLAG 1
     time 54.00   tot 133.69
   [ 7]     qtv    move PORT_TURN   dir NORTH_WEST  loc 3309,196  DistToNext 0.000000
    Speed 2, FLAG 1
     time  0.00   tot 133.69
   [ 8]     qtv    move PORT_TURN   dir WEST  loc 3309,196  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot 133.69
   [ 9]     qtv    move FORWARD   dir WEST  loc 3249,196  DistToNext 0.000000
    Speed 2, FLAG 1
     time 54.00   tot 187.69
   [10]     qtv    move STBD_TURN   dir NORTH_WEST  loc 3249,196  DistToNext -2.135196
    Speed 2, FLAG 1
     time  0.00   tot 187.69
   [11]     qtv    move FORWARD   dir NORTH_WEST  loc 3250,195  DistToNext 0.000000
    Speed -1, FLAG 1
     time -7.69   tot 180.00
   [12]     qtv    move PORT_TURN   dir WEST  loc 3250,195  DistToNext -2.135196
    Speed 0, FLAG 1
     time  0.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move PORT_TURN   dir NORTH_EAST  loc 1168,262  DistToNext 50.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir NORTH_EAST  loc 1203,227  DistToNext 0.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
   [ 2]     qtv    move PORT_TURN   dir NORTH  loc 1203,227  DistToNext 50.000000
    Speed 0, FLAG 1
     time  0.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir EAST  loc 1965,441  DistToNext 50.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir EAST  loc 2000,406  DistToNext 0.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
   [ 2]     qtv    move STBD_TURN   dir SOUTH_EAST  loc 2000,406  DistToNext 50.000000
    Speed 0, FLAG 1
     time  0.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir WEST  loc 4224,-2991  DistToNext 0.000000
    Speed 2, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move PORT_TURN   dir SOUTH_WEST  loc 4224,-2991  DistToNext 59.396969
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move FORWARD   dir SOUTH_WEST  loc 4182,-3033  DistToNext 0.000000
    Speed 3, FLAG 1
     time 35.64   tot 35.64
   [ 3]     qtv    move PORT_TURN   dir SOUTH  loc 4182,-3033  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot 35.64
   [ 4]     qtv    move FORWARD   dir SOUTH  loc 4182,-3093  DistToNext 0.000000
    Speed 5, FLAG 1
     time 21.60   tot 57.24
   [ 5]     qtv    move PORT_TURN   dir SOUTH_EAST  loc 4182,-3093  DistToNext 59.396969
    Speed 0, FLAG 1
     time  0.00   tot 57.24
   [ 6]     qtv    move FORWARD   dir SOUTH_EAST  loc 4224,-3135  DistToNext 0.000000
    Speed 4, FLAG 1
     time 26.73   tot 83.97
   [ 7]     qtv    move PORT_TURN   dir EAST  loc 4224,-3135  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot 83.97
   [ 8]     qtv    move FORWARD   dir EAST  loc 4284,-3135  DistToNext 0.000000
    Speed 5, FLAG 1
     time 21.60   tot 105.57
   [ 9]     qtv    move PORT_TURN   dir NORTH_EAST  loc 4284,-3135  DistToNext 59.396969
    Speed 0, FLAG 1
     time  0.00   tot 105.57
   [10]     qtv    move FORWARD   dir NORTH_EAST  loc 4326,-3093  DistToNext 0.000000
    Speed 3, FLAG 1
     time 35.64   tot 141.20
   [11]     qtv    move PORT_TURN   dir NORTH  loc 4326,-3093  DistToNext 42.000000
    Speed 0, FLAG 1
     time  0.00   tot 141.20
   [12]     qtv    move FORWARD   dir NORTH  loc 4326,-3051  DistToNext 25.000000
    Speed 2, FLAG 1
     time 37.80   tot 179.00
   [13]     qtv    move FORWARD   dir NORTH  loc 4326,-3076  DistToNext 0.000000
    Speed 2, FLAG 2
     time 22.50   tot 201.50
  End Path <===
* ==> Start Path
   [ 0]     qtv    move STBD_TURN   dir SOUTH  loc 2353,-237  DistToNext 50.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir SOUTH  loc 2388,-272  DistToNext 0.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
   [ 2]     qtv    move PORT_TURN   dir SOUTH_EAST  loc 2388,-272  DistToNext 50.000000
    Speed 0, FLAG 1
     time  0.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move STBD_TURN   dir SOUTH_EAST  loc 2384,-79  DistToNext 50.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir SOUTH_EAST  loc 2419,-114  DistToNext 50.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move STBD_TURN   dir SOUTH_EAST  loc 2230,-666  DistToNext 50.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir SOUTH_EAST  loc 2265,-701  DistToNext 0.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
   [ 2]     qtv    move STBD_TURN   dir SOUTH  loc 2265,-701  DistToNext 50.000000
    Speed 0, FLAG 1
     time  0.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move PORT_TURN   dir SOUTH_WEST  loc 1928,-45  DistToNext 50.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir SOUTH_WEST  loc 1963,-80  DistToNext 0.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
   [ 2]     qtv    move PORT_TURN   dir SOUTH  loc 1963,-80  DistToNext 50.000000
    Speed 0, FLAG 1
     time  0.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move STBD_TURN   dir SOUTH_WEST  loc 2705,-1947  DistToNext 50.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir SOUTH_WEST  loc 2740,-1982  DistToNext 0.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
   [ 2]     qtv    move STBD_TURN   dir WEST  loc 2740,-1982  DistToNext 50.000000
    Speed 0, FLAG 1
     time  0.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir WEST  loc 4395,-3103  DistToNext 0.000000
    Speed 2, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move PORT_TURN   dir SOUTH_WEST  loc 4395,-3103  DistToNext 59.396969
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move FORWARD   dir SOUTH_WEST  loc 4353,-3145  DistToNext 0.000000
    Speed 3, FLAG 1
     time 35.64   tot 35.64
   [ 3]     qtv    move PORT_TURN   dir SOUTH  loc 4353,-3145  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot 35.64
   [ 4]     qtv    move FORWARD   dir SOUTH  loc 4353,-3205  DistToNext 0.000000
    Speed 5, FLAG 1
     time 21.60   tot 57.24
   [ 5]     qtv    move PORT_TURN   dir SOUTH_EAST  loc 4353,-3205  DistToNext 59.396969
    Speed 0, FLAG 1
     time  0.00   tot 57.24
   [ 6]     qtv    move FORWARD   dir SOUTH_EAST  loc 4395,-3247  DistToNext 0.000000
    Speed 4, FLAG 1
     time 26.73   tot 83.97
   [ 7]     qtv    move PORT_TURN   dir EAST  loc 4395,-3247  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot 83.97
   [ 8]     qtv    move FORWARD   dir EAST  loc 4455,-3247  DistToNext 0.000000
    Speed 5, FLAG 1
     time 21.60   tot 105.57
   [ 9]     qtv    move PORT_TURN   dir NORTH_EAST  loc 4455,-3247  DistToNext 59.396969
    Speed 0, FLAG 1
     time  0.00   tot 105.57
   [10]     qtv    move FORWARD   dir NORTH_EAST  loc 4497,-3205  DistToNext 0.000000
    Speed 3, FLAG 1
     time 35.64   tot 141.20
   [11]     qtv    move PORT_TURN   dir NORTH  loc 4497,-3205  DistToNext 42.000000
    Speed 0, FLAG 1
     time  0.00   tot 141.20
   [12]     qtv    move FORWARD   dir NORTH  loc 4497,-3163  DistToNext 25.000000
    Speed 2, FLAG 1
     time 37.80   tot 179.00
   [13]     qtv    move FORWARD   dir NORTH  loc 4497,-3188  DistToNext 0.000000
    Speed 2, FLAG 2
     time 22.50   tot 201.50
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir NORTH  loc 2049,449  DistToNext 50.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir NORTH  loc 2084,414  DistToNext 0.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
   [ 2]     qtv    move STBD_TURN   dir NORTH_EAST  loc 2084,414  DistToNext 50.000000
    Speed 0, FLAG 1
     time  0.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir NORTH  loc 2252,-520  DistToNext 50.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir NORTH  loc 2287,-555  DistToNext 0.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
   [ 2]     qtv    move STBD_TURN   dir NORTH_EAST  loc 2287,-555  DistToNext 50.000000
    Speed 0, FLAG 1
     time  0.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir SOUTH_WEST  loc 3716,-1655  DistToNext 0.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move PORT_TURN   dir SOUTH  loc 3716,-1655  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move FORWARD   dir SOUTH  loc 3716,-1715  DistToNext 0.000000
    Speed 1, FLAG 1
     time 108.00   tot 108.00
   [ 3]     qtv    move PORT_TURN   dir SOUTH_EAST  loc 3716,-1715  DistToNext 39.597980
    Speed 0, FLAG 1
     time  0.00   tot 108.00
   [ 4]     qtv    move FORWARD   dir SOUTH_EAST  loc 3744,-1743  DistToNext 19.798990
    Speed 1, FLAG 1
     time 71.28   tot 179.27
   [ 5]     qtv    move FORWARD   dir SOUTH_EAST  loc 3730,-1729  DistToNext 0.000000
    Speed 1, FLAG 2
     time 35.64   tot 214.91
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir WEST  loc 2927,-2589  DistToNext 0.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move PORT_TURN   dir SOUTH_WEST  loc 2927,-2589  DistToNext 69.296463
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move FORWARD   dir SOUTH_WEST  loc 2878,-2638  DistToNext 0.000000
    Speed 1, FLAG 1
     time 124.73   tot 124.73
   [ 3]     qtv    move PORT_TURN   dir SOUTH  loc 2878,-2638  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot 124.73
   [ 4]     qtv    move FORWARD   dir SOUTH  loc 2878,-2698  DistToNext 51.000000
    Speed 2, FLAG 1
     time 54.00   tot 178.73
   [ 5]     qtv    move FORWARD   dir SOUTH  loc 2878,-2647  DistToNext 0.000000
    Speed 2, FLAG 2
     time 45.90   tot 224.63
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir EAST  loc 3822,-648  DistToNext 140.000000
    Speed 6, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir EAST  loc 3962,-648  DistToNext 0.000000
    Speed 6, FLAG 1
     time 42.00   tot 42.00
   [ 2]     qtv    move PORT_TURN   dir NORTH_EAST  loc 3962,-648  DistToNext 70.710678
    Speed 0, FLAG 1
     time  0.00   tot 42.00
   [ 3]     qtv    move FORWARD   dir NORTH_EAST  loc 4012,-598  DistToNext 0.000000
    Speed 4, FLAG 1
     time 31.82   tot 73.82
   [ 4]     qtv    move PORT_TURN   dir NORTH  loc 4012,-598  DistToNext 70.000000
    Speed 4, FLAG 1
     time  0.00   tot 73.82
   [ 5]     qtv    move FORWARD   dir NORTH  loc 4012,-528  DistToNext 0.000000
    Speed 2, FLAG 1
     time 63.00   tot 136.82
   [ 6]     qtv    move PORT_TURN   dir NORTH_WEST  loc 4012,-528  DistToNext 0.000000
    Speed 2, FLAG 1
     time  0.00   tot 136.82
   [ 7]     qtv    move PORT_TURN   dir WEST  loc 4012,-528  DistToNext 70.000000
    Speed 0, FLAG 1
     time  0.00   tot 136.82
   [ 8]     qtv    move FORWARD   dir WEST  loc 3942,-528  DistToNext 0.000000
    Speed 2, FLAG 1
     time 63.00   tot 199.82
   [ 9]     qtv    move STBD_TURN   dir NORTH_WEST  loc 3942,-528  DistToNext -5.505498
    Speed 2, FLAG 1
     time  0.00   tot 199.82
   [10]     qtv    move FORWARD   dir NORTH_WEST  loc 3945,-531  DistToNext 0.000000
    Speed -1, FLAG 1
     time -19.82   tot 180.00
   [11]     qtv    move PORT_TURN   dir WEST  loc 3945,-531  DistToNext -5.505498
    Speed 0, FLAG 1
     time  0.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move PORT_TURN   dir NORTH_EAST  loc 3455,156  DistToNext 69.296463
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir NORTH_EAST  loc 3504,205  DistToNext 0.000000
    Speed 1, FLAG 1
     time 124.73   tot 124.73
   [ 2]     qtv    move STBD_TURN   dir EAST  loc 3504,205  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot 124.73
   [ 3]     qtv    move FORWARD   dir EAST  loc 3564,205  DistToNext 51.000000
    Speed 2, FLAG 1
     time 54.00   tot 178.73
   [ 4]     qtv    move FORWARD   dir EAST  loc 3513,205  DistToNext 0.000000
    Speed 2, FLAG 2
     time 45.90   tot 224.63
  End Path <===
* ==> Start Path
   [ 0]     qtv    move PORT_TURN   dir NORTH  loc 2197,-596  DistToNext 50.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir NORTH  loc 2232,-631  DistToNext 50.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir NORTH  loc 4362,489  DistToNext 100.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir NORTH  loc 4362,589  DistToNext 0.000000
    Speed 1, FLAG 1
     time 180.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir NORTH  loc 3829,1808  DistToNext 100.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir NORTH  loc 3829,1908  DistToNext 0.000000
    Speed 1, FLAG 1
     time 180.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir SOUTH_EAST  loc 2608,-856  DistToNext 0.000000
    Speed 5, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move STBD_TURN   dir SOUTH  loc 2608,-856  DistToNext 60.000000
    Speed 5, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move FORWARD   dir SOUTH  loc 2608,-916  DistToNext 0.000000
    Speed 6, FLAG 1
     time 18.00   tot 18.00
   [ 3]     qtv    move STBD_TURN   dir SOUTH_WEST  loc 2608,-916  DistToNext 60.811184
    Speed 6, FLAG 1
     time  0.00   tot 18.00
   [ 4]     qtv    move FORWARD   dir SOUTH_WEST  loc 2565,-959  DistToNext 0.000000
    Speed 4, FLAG 1
     time 27.36   tot 45.36
   [ 5]     qtv    move STBD_TURN   dir WEST  loc 2565,-959  DistToNext 0.000000
    Speed 4, FLAG 1
     time  0.00   tot 45.36
   [ 6]     qtv    move STBD_TURN   dir NORTH_WEST  loc 2565,-959  DistToNext 60.811184
    Speed 0, FLAG 1
     time  0.00   tot 45.36
   [ 7]     qtv    move FORWARD   dir NORTH_WEST  loc 2522,-916  DistToNext 0.000000
    Speed 4, FLAG 1
     time 27.36   tot 72.73
   [ 8]     qtv    move STBD_TURN   dir NORTH  loc 2522,-916  DistToNext 119.000000
    Speed 4, FLAG 1
     time  0.00   tot 72.73
   [ 9]     qtv    move FORWARD   dir NORTH  loc 2522,-797  DistToNext 0.000000
    Speed 2, FLAG 1
     time 107.10   tot 179.83
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir NORTH  loc 3501,1609  DistToNext 100.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir NORTH  loc 3501,1709  DistToNext 0.000000
    Speed 1, FLAG 1
     time 180.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir EAST  loc 4398,136  DistToNext 120.000000
    Speed 4, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir EAST  loc 4518,136  DistToNext 0.000000
    Speed 4, FLAG 1
     time 54.00   tot 54.00
   [ 2]     qtv    move PORT_TURN   dir NORTH_EAST  loc 4518,136  DistToNext 60.811184
    Speed 0, FLAG 1
     time  0.00   tot 54.00
   [ 3]     qtv    move FORWARD   dir NORTH_EAST  loc 4561,179  DistToNext 0.000000
    Speed 2, FLAG 1
     time 54.73   tot 108.73
   [ 4]     qtv    move PORT_TURN   dir NORTH  loc 4561,179  DistToNext 60.000000
    Speed 2, FLAG 1
     time  0.00   tot 108.73
   [ 5]     qtv    move FORWARD   dir NORTH  loc 4561,239  DistToNext 0.000000
    Speed 1, FLAG 1
     time 108.00   tot 216.73
   [ 6]     qtv    move PORT_TURN   dir NORTH_WEST  loc 4561,239  DistToNext 0.000000
    Speed 1, FLAG 1
     time  0.00   tot 216.73
   [ 7]     qtv    move PORT_TURN   dir WEST  loc 4561,239  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot 216.73
   [ 8]     qtv    move FORWARD   dir WEST  loc 4501,239  DistToNext 0.000000
    Speed 1, FLAG 1
     time 108.00   tot 324.73
   [ 9]     qtv    move STBD_TURN   dir NORTH_WEST  loc 4501,239  DistToNext -40.202789
    Speed 1, FLAG 1
     time  0.00   tot 324.73
   [10]     qtv    move FORWARD   dir NORTH_WEST  loc 4529,211  DistToNext 0.000000
    Speed -1, FLAG 1
     time -144.73   tot 180.00
   [11]     qtv    move STBD_TURN   dir NORTH  loc 4529,211  DistToNext -40.202789
    Speed 0, FLAG 1
     time  0.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir NORTH  loc 3852,932  DistToNext 100.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir NORTH  loc 3852,1032  DistToNext 0.000000
    Speed 1, FLAG 1
     time 180.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move PORT_TURN   dir WEST  loc 3250,195  DistToNext 60.000000
    Speed 2, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir WEST  loc 3190,195  DistToNext 0.000000
    Speed 2, FLAG 1
     time 54.00   tot 54.00
   [ 2]     qtv    move PORT_TURN   dir SOUTH_WEST  loc 3190,195  DistToNext 59.396969
    Speed 0, FLAG 1
     time  0.00   tot 54.00
   [ 3]     qtv    move FORWARD   dir SOUTH_WEST  loc 3148,153  DistToNext 0.000000
    Speed 3, FLAG 1
     time 35.64   tot 89.64
   [ 4]     qtv    move PORT_TURN   dir SOUTH  loc 3148,153  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot 89.64
   [ 5]     qtv    move FORWARD   dir SOUTH  loc 3148,93  DistToNext 0.000000
    Speed 5, FLAG 1
     time 21.60   tot 111.24
   [ 6]     qtv    move PORT_TURN   dir SOUTH_EAST  loc 3148,93  DistToNext 59.396969
    Speed 0, FLAG 1
     time  0.00   tot 111.24
   [ 7]     qtv    move FORWARD   dir SOUTH_EAST  loc 3190,51  DistToNext 0.000000
    Speed 4, FLAG 1
     time 26.73   tot 137.97
   [ 8]     qtv    move PORT_TURN   dir EAST  loc 3190,51  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot 137.97
   [ 9]     qtv    move FORWARD   dir EAST  loc 3250,51  DistToNext 0.000000
    Speed 5, FLAG 1
     time 21.60   tot 159.57
   [10]     qtv    move PORT_TURN   dir NORTH_EAST  loc 3250,51  DistToNext 32.526913
    Speed 0, FLAG 1
     time  0.00   tot 159.57
   [11]     qtv    move FORWARD   dir NORTH_EAST  loc 3273,74  DistToNext 5.656854
    Speed 3, FLAG 1
     time 19.52   tot 179.08
   [12]     qtv    move FORWARD   dir NORTH_EAST  loc 3269,70  DistToNext 0.000000
    Speed 3, FLAG 2
     time  3.39   tot 182.48
  End Path <===
* ==> Start Path
   [ 0]     qtv    move PORT_TURN   dir NORTH  loc 1203,227  DistToNext 50.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir NORTH  loc 1238,192  DistToNext 50.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move STBD_TURN   dir SOUTH_EAST  loc 2000,406  DistToNext 50.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir SOUTH_EAST  loc 2035,371  DistToNext 0.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
   [ 2]     qtv    move PORT_TURN   dir EAST  loc 2035,371  DistToNext 50.000000
    Speed 0, FLAG 1
     time  0.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir NORTH  loc 4326,-3051  DistToNext 0.000000
    Speed 2, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move STBD_TURN   dir NORTH_EAST  loc 4326,-3051  DistToNext 59.396969
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move FORWARD   dir NORTH_EAST  loc 4368,-3009  DistToNext 0.000000
    Speed 3, FLAG 1
     time 35.64   tot 35.64
   [ 3]     qtv    move STBD_TURN   dir EAST  loc 4368,-3009  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot 35.64
   [ 4]     qtv    move FORWARD   dir EAST  loc 4428,-3009  DistToNext 0.000000
    Speed 5, FLAG 1
     time 21.60   tot 57.24
   [ 5]     qtv    move STBD_TURN   dir SOUTH_EAST  loc 4428,-3009  DistToNext 59.396969
    Speed 0, FLAG 1
     time  0.00   tot 57.24
   [ 6]     qtv    move FORWARD   dir SOUTH_EAST  loc 4470,-3051  DistToNext 0.000000
    Speed 4, FLAG 1
     time 26.73   tot 83.97
   [ 7]     qtv    move STBD_TURN   dir SOUTH  loc 4470,-3051  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot 83.97
   [ 8]     qtv    move FORWARD   dir SOUTH  loc 4470,-3111  DistToNext 0.000000
    Speed 5, FLAG 1
     time 21.60   tot 105.57
   [ 9]     qtv    move STBD_TURN   dir SOUTH_WEST  loc 4470,-3111  DistToNext 59.396969
    Speed 0, FLAG 1
     time  0.00   tot 105.57
   [10]     qtv    move FORWARD   dir SOUTH_WEST  loc 4428,-3153  DistToNext 0.000000
    Speed 3, FLAG 1
     time 35.64   tot 141.20
   [11]     qtv    move STBD_TURN   dir WEST  loc 4428,-3153  DistToNext 42.000000
    Speed 0, FLAG 1
     time  0.00   tot 141.20
   [12]     qtv    move FORWARD   dir WEST  loc 4386,-3153  DistToNext 25.000000
    Speed 2, FLAG 1
     time 37.80   tot 179.00
   [13]     qtv    move FORWARD   dir WEST  loc 4411,-3153  DistToNext 0.000000
    Speed 2, FLAG 2
     time 22.50   tot 201.50
  End Path <===
* ==> Start Path
   [ 0]     qtv    move PORT_TURN   dir SOUTH_EAST  loc 2388,-272  DistToNext 50.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir SOUTH_EAST  loc 2423,-307  DistToNext 0.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
   [ 2]     qtv    move PORT_TURN   dir EAST  loc 2423,-307  DistToNext 50.000000
    Speed 0, FLAG 1
     time  0.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir SOUTH_EAST  loc 2419,-114  DistToNext 50.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir SOUTH_EAST  loc 2454,-149  DistToNext 0.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
   [ 2]     qtv    move STBD_TURN   dir SOUTH  loc 2454,-149  DistToNext 50.000000
    Speed 0, FLAG 1
     time  0.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move STBD_TURN   dir SOUTH  loc 2265,-701  DistToNext 50.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir SOUTH  loc 2300,-736  DistToNext 0.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
   [ 2]     qtv    move PORT_TURN   dir SOUTH_EAST  loc 2300,-736  DistToNext 50.000000
    Speed 0, FLAG 1
     time  0.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move PORT_TURN   dir SOUTH  loc 1963,-80  DistToNext 50.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir SOUTH  loc 1998,-115  DistToNext 0.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
   [ 2]     qtv    move STBD_TURN   dir SOUTH_WEST  loc 1998,-115  DistToNext 50.000000
    Speed 0, FLAG 1
     time  0.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move STBD_TURN   dir WEST  loc 2740,-1982  DistToNext 50.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir WEST  loc 2775,-2017  DistToNext 0.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
   [ 2]     qtv    move PORT_TURN   dir SOUTH_WEST  loc 2775,-2017  DistToNext 50.000000
    Speed 0, FLAG 1
     time  0.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir NORTH  loc 4497,-3163  DistToNext 0.000000
    Speed 2, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move STBD_TURN   dir NORTH_EAST  loc 4497,-3163  DistToNext 59.396969
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move FORWARD   dir NORTH_EAST  loc 4539,-3121  DistToNext 0.000000
    Speed 3, FLAG 1
     time 35.64   tot 35.64
   [ 3]     qtv    move STBD_TURN   dir EAST  loc 4539,-3121  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot 35.64
   [ 4]     qtv    move FORWARD   dir EAST  loc 4599,-3121  DistToNext 0.000000
    Speed 5, FLAG 1
     time 21.60   tot 57.24
   [ 5]     qtv    move STBD_TURN   dir SOUTH_EAST  loc 4599,-3121  DistToNext 59.396969
    Speed 0, FLAG 1
     time  0.00   tot 57.24
   [ 6]     qtv    move FORWARD   dir SOUTH_EAST  loc 4641,-3163  DistToNext 0.000000
    Speed 4, FLAG 1
     time 26.73   tot 83.97
   [ 7]     qtv    move STBD_TURN   dir SOUTH  loc 4641,-3163  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot 83.97
   [ 8]     qtv    move FORWARD   dir SOUTH  loc 4641,-3223  DistToNext 0.000000
    Speed 5, FLAG 1
     time 21.60   tot 105.57
   [ 9]     qtv    move STBD_TURN   dir SOUTH_WEST  loc 4641,-3223  DistToNext 59.396969
    Speed 0, FLAG 1
     time  0.00   tot 105.57
   [10]     qtv    move FORWARD   dir SOUTH_WEST  loc 4599,-3265  DistToNext 0.000000
    Speed 3, FLAG 1
     time 35.64   tot 141.20
   [11]     qtv    move STBD_TURN   dir WEST  loc 4599,-3265  DistToNext 42.000000
    Speed 0, FLAG 1
     time  0.00   tot 141.20
   [12]     qtv    move FORWARD   dir WEST  loc 4557,-3265  DistToNext 25.000000
    Speed 2, FLAG 1
     time 37.80   tot 179.00
   [13]     qtv    move FORWARD   dir WEST  loc 4582,-3265  DistToNext 0.000000
    Speed 2, FLAG 2
     time 22.50   tot 201.50
  End Path <===
* ==> Start Path
   [ 0]     qtv    move STBD_TURN   dir NORTH_EAST  loc 2084,414  DistToNext 50.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir NORTH_EAST  loc 2119,379  DistToNext 0.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
   [ 2]     qtv    move STBD_TURN   dir EAST  loc 2119,379  DistToNext 50.000000
    Speed 0, FLAG 1
     time  0.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move STBD_TURN   dir NORTH_EAST  loc 2287,-555  DistToNext 50.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir NORTH_EAST  loc 2322,-590  DistToNext 0.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
   [ 2]     qtv    move STBD_TURN   dir EAST  loc 2322,-590  DistToNext 50.000000
    Speed 0, FLAG 1
     time  0.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir SOUTH_EAST  loc 3744,-1743  DistToNext 0.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move STBD_TURN   dir SOUTH  loc 3744,-1743  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move FORWARD   dir SOUTH  loc 3744,-1803  DistToNext 0.000000
    Speed 1, FLAG 1
     time 108.00   tot 108.00
   [ 3]     qtv    move STBD_TURN   dir SOUTH_WEST  loc 3744,-1803  DistToNext 39.597980
    Speed 0, FLAG 1
     time  0.00   tot 108.00
   [ 4]     qtv    move FORWARD   dir SOUTH_WEST  loc 3716,-1831  DistToNext 19.798990
    Speed 1, FLAG 1
     time 71.28   tot 179.27
   [ 5]     qtv    move FORWARD   dir SOUTH_WEST  loc 3730,-1817  DistToNext 0.000000
    Speed 1, FLAG 2
     time 35.64   tot 214.91
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir SOUTH  loc 2878,-2698  DistToNext 0.000000
    Speed 2, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move PORT_TURN   dir SOUTH_EAST  loc 2878,-2698  DistToNext 69.296463
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move FORWARD   dir SOUTH_EAST  loc 2927,-2747  DistToNext 0.000000
    Speed 1, FLAG 1
     time 124.73   tot 124.73
   [ 3]     qtv    move PORT_TURN   dir EAST  loc 2927,-2747  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot 124.73
   [ 4]     qtv    move FORWARD   dir EAST  loc 2987,-2747  DistToNext 51.000000
    Speed 2, FLAG 1
     time 54.00   tot 178.73
   [ 5]     qtv    move FORWARD   dir EAST  loc 2936,-2747  DistToNext 0.000000
    Speed 2, FLAG 2
     time 45.90   tot 224.63
  End Path <===
* ==> Start Path
   [ 0]     qtv    move PORT_TURN   dir WEST  loc 3945,-531  DistToNext 70.000000
    Speed 2, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir WEST  loc 3875,-531  DistToNext 0.000000
    Speed 2, FLAG 1
     time 63.00   tot 63.00
   [ 2]     qtv    move PORT_TURN   dir SOUTH_WEST  loc 3875,-531  DistToNext 69.296463
    Speed 0, FLAG 1
     time  0.00   tot 63.00
   [ 3]     qtv    move FORWARD   dir SOUTH_WEST  loc 3826,-580  DistToNext 0.000000
    Speed 4, FLAG 1
     time 31.18   tot 94.18
   [ 4]     qtv    move PORT_TURN   dir SOUTH  loc 3826,-580  DistToNext 70.000000
    Speed 0, FLAG 1
     time  0.00   tot 94.18
   [ 5]     qtv    move FORWARD   dir SOUTH  loc 3826,-650  DistToNext 0.000000
    Speed 6, FLAG 1
     time 21.00   tot 115.18
   [ 6]     qtv    move PORT_TURN   dir SOUTH_EAST  loc 3826,-650  DistToNext 69.296463
    Speed 0, FLAG 1
     time  0.00   tot 115.18
   [ 7]     qtv    move FORWARD   dir SOUTH_EAST  loc 3875,-699  DistToNext 0.000000
    Speed 5, FLAG 1
     time 24.95   tot 140.13
   [ 8]     qtv    move PORT_TURN   dir EAST  loc 3875,-699  DistToNext 70.000000
    Speed 0, FLAG 1
     time  0.00   tot 140.13
   [ 9]     qtv    move FORWARD   dir EAST  loc 3945,-699  DistToNext 0.000000
    Speed 6, FLAG 1
     time 21.00   tot 161.13
   [10]     qtv    move PORT_TURN   dir NORTH_EAST  loc 3945,-699  DistToNext 39.597980
    Speed 0, FLAG 1
     time  0.00   tot 161.13
   [11]     qtv    move FORWARD   dir NORTH_EAST  loc 3973,-671  DistToNext 11.313708
    Speed 4, FLAG 1
     time 17.82   tot 178.95
   [12]     qtv    move FORWARD   dir NORTH_EAST  loc 3965,-679  DistToNext 0.000000
    Speed 4, FLAG 2
     time  5.09   tot 184.04
  End Path <===
* ==> Start Path
   [ 0]     qtv    move PORT_TURN   dir EAST  loc 3564,205  DistToNext 70.000000
    Speed 2, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir EAST  loc 3634,205  DistToNext 0.000000
    Speed 2, FLAG 1
     time 63.00   tot 63.00
   [ 2]     qtv    move STBD_TURN   dir SOUTH_EAST  loc 3634,205  DistToNext 63.639610
    Speed 0, FLAG 1
     time  0.00   tot 63.00
   [ 3]     qtv    move FORWARD   dir SOUTH_EAST  loc 3679,160  DistToNext 59.396969
    Speed 1, FLAG 1
     time 114.55   tot 177.55
   [ 4]     qtv    move FORWARD   dir SOUTH_EAST  loc 3637,202  DistToNext 0.000000
    Speed 1, FLAG 2
     time 106.91   tot 284.46
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir NORTH  loc 2232,-631  DistToNext 50.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir NORTH  loc 2267,-666  DistToNext 50.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir NORTH  loc 4362,589  DistToNext 100.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir NORTH  loc 4362,689  DistToNext 0.000000
    Speed 1, FLAG 1
     time 180.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir NORTH  loc 3829,1908  DistToNext 100.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir NORTH  loc 3829,2008  DistToNext 0.000000
    Speed 1, FLAG 1
     time 180.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir NORTH  loc 2522,-797  DistToNext 0.000000
    Speed 2, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move STBD_TURN   dir NORTH_EAST  loc 2522,-797  DistToNext 59.396969
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move FORWARD   dir NORTH_EAST  loc 2564,-755  DistToNext 0.000000
    Speed 4, FLAG 1
     time 26.73   tot 26.73
   [ 3]     qtv    move STBD_TURN   dir EAST  loc 2564,-755  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot 26.73
   [ 4]     qtv    move FORWARD   dir EAST  loc 2624,-755  DistToNext 0.000000
    Speed 6, FLAG 1
     time 18.00   tot 44.73
   [ 5]     qtv    move STBD_TURN   dir SOUTH_EAST  loc 2624,-755  DistToNext 118.793938
    Speed 0, FLAG 1
     time  0.00   tot 44.73
   [ 6]     qtv    move FORWARD   dir SOUTH_EAST  loc 2708,-839  DistToNext 0.000000
    Speed 5, FLAG 1
     time 42.77   tot 87.49
   [ 7]     qtv    move STBD_TURN   dir SOUTH  loc 2708,-839  DistToNext 120.000000
    Speed 0, FLAG 1
     time  0.00   tot 87.49
   [ 8]     qtv    move FORWARD   dir SOUTH  loc 2708,-959  DistToNext 0.000000
    Speed 6, FLAG 1
     time 36.00   tot 123.49
   [ 9]     qtv    move STBD_TURN   dir SOUTH_WEST  loc 2708,-959  DistToNext 118.793938
    Speed 0, FLAG 1
     time  0.00   tot 123.49
   [10]     qtv    move FORWARD   dir SOUTH_WEST  loc 2624,-1043  DistToNext 0.000000
    Speed 4, FLAG 1
     time 53.46   tot 176.95
   [11]     qtv    move STBD_TURN   dir WEST  loc 2624,-1043  DistToNext 2.000000
    Speed 0, FLAG 1
     time  0.00   tot 176.95
   [12]     qtv    move FORWARD   dir WEST  loc 2622,-1043  DistToNext 55.000000
    Speed 2, FLAG 1
     time  1.80   tot 178.75
   [13]     qtv    move FORWARD   dir WEST  loc 2567,-1043  DistToNext 0.000000
    Speed 2, FLAG 2
     time 49.50   tot 228.25
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir NORTH  loc 3501,1709  DistToNext 100.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir NORTH  loc 3501,1809  DistToNext 0.000000
    Speed 1, FLAG 1
     time 180.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move STBD_TURN   dir NORTH  loc 4529,211  DistToNext 100.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir NORTH  loc 4529,311  DistToNext 0.000000
    Speed 1, FLAG 1
     time 180.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir NORTH  loc 3852,1032  DistToNext 100.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir NORTH  loc 3852,1132  DistToNext 0.000000
    Speed 1, FLAG 1
     time 180.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move PORT_TURN   dir NORTH_EAST  loc 3273,74  DistToNext 59.396969
    Speed 3, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move BACK_SAIL   dir NORTH_EAST  loc 3315,116  DistToNext 0.000000
    Speed 2, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move FORWARD   dir NORTH_EAST  loc 3315,116  DistToNext 0.000000
    Speed 2, FLAG 1
     time  0.00   tot  0.00
   [ 3]     qtv    move STBD_TURN   dir EAST  loc 3315,116  DistToNext 400.000000
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 4]     qtv    move FORWARD   dir EAST  loc 3715,116  DistToNext 26.000000
    Speed 4, FLAG 1
     time 180.00   tot 180.00
   [ 5]     qtv    move FORWARD   dir EAST  loc 3741,116  DistToNext 7.000000
    Speed 5, FLAG 1
     time  9.36   tot 189.36
   [ 6]     qtv    move FORWARD   dir EAST  loc 3748,116  DistToNext 0.000000
    Speed 5, FLAG 2
     time  2.52   tot 191.88
   [ 7]     qtv    move NO_DIRECTION   dir EAST  loc 3748,116  DistToNext 21.000000
    Speed 0, FLAG 1
     time  0.00   tot 191.88
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir NORTH  loc 1238,192  DistToNext 50.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir NORTH  loc 1273,157  DistToNext 50.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move PORT_TURN   dir EAST  loc 2035,371  DistToNext 50.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir EAST  loc 2070,336  DistToNext 0.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
   [ 2]     qtv    move STBD_TURN   dir SOUTH_EAST  loc 2070,336  DistToNext 50.000000
    Speed 0, FLAG 1
     time  0.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir WEST  loc 4386,-3153  DistToNext 0.000000
    Speed 2, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move PORT_TURN   dir SOUTH_WEST  loc 4386,-3153  DistToNext 59.396969
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move FORWARD   dir SOUTH_WEST  loc 4344,-3195  DistToNext 0.000000
    Speed 3, FLAG 1
     time 35.64   tot 35.64
   [ 3]     qtv    move PORT_TURN   dir SOUTH  loc 4344,-3195  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot 35.64
   [ 4]     qtv    move FORWARD   dir SOUTH  loc 4344,-3255  DistToNext 0.000000
    Speed 5, FLAG 1
     time 21.60   tot 57.24
   [ 5]     qtv    move PORT_TURN   dir SOUTH_EAST  loc 4344,-3255  DistToNext 59.396969
    Speed 0, FLAG 1
     time  0.00   tot 57.24
   [ 6]     qtv    move FORWARD   dir SOUTH_EAST  loc 4386,-3297  DistToNext 0.000000
    Speed 4, FLAG 1
     time 26.73   tot 83.97
   [ 7]     qtv    move PORT_TURN   dir EAST  loc 4386,-3297  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot 83.97
   [ 8]     qtv    move FORWARD   dir EAST  loc 4446,-3297  DistToNext 0.000000
    Speed 5, FLAG 1
     time 21.60   tot 105.57
   [ 9]     qtv    move PORT_TURN   dir NORTH_EAST  loc 4446,-3297  DistToNext 59.396969
    Speed 0, FLAG 1
     time  0.00   tot 105.57
   [10]     qtv    move FORWARD   dir NORTH_EAST  loc 4488,-3255  DistToNext 0.000000
    Speed 3, FLAG 1
     time 35.64   tot 141.20
   [11]     qtv    move PORT_TURN   dir NORTH  loc 4488,-3255  DistToNext 42.000000
    Speed 0, FLAG 1
     time  0.00   tot 141.20
   [12]     qtv    move FORWARD   dir NORTH  loc 4488,-3213  DistToNext 25.000000
    Speed 2, FLAG 1
     time 37.80   tot 179.00
   [13]     qtv    move FORWARD   dir NORTH  loc 4488,-3238  DistToNext 0.000000
    Speed 2, FLAG 2
     time 22.50   tot 201.50
  End Path <===
* ==> Start Path
   [ 0]     qtv    move PORT_TURN   dir EAST  loc 2423,-307  DistToNext 50.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir EAST  loc 2458,-342  DistToNext 0.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
   [ 2]     qtv    move PORT_TURN   dir NORTH_EAST  loc 2458,-342  DistToNext 50.000000
    Speed 0, FLAG 1
     time  0.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move STBD_TURN   dir SOUTH  loc 2454,-149  DistToNext 50.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir SOUTH  loc 2489,-184  DistToNext 0.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
   [ 2]     qtv    move STBD_TURN   dir SOUTH_WEST  loc 2489,-184  DistToNext 50.000000
    Speed 0, FLAG 1
     time  0.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move PORT_TURN   dir SOUTH_EAST  loc 2300,-736  DistToNext 50.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir SOUTH_EAST  loc 2335,-771  DistToNext 0.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
   [ 2]     qtv    move STBD_TURN   dir SOUTH  loc 2335,-771  DistToNext 50.000000
    Speed 0, FLAG 1
     time  0.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move STBD_TURN   dir SOUTH_WEST  loc 1998,-115  DistToNext 50.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir SOUTH_WEST  loc 2033,-150  DistToNext 0.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
   [ 2]     qtv    move STBD_TURN   dir WEST  loc 2033,-150  DistToNext 50.000000
    Speed 0, FLAG 1
     time  0.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move PORT_TURN   dir SOUTH_WEST  loc 2775,-2017  DistToNext 50.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir SOUTH_WEST  loc 2810,-2052  DistToNext 0.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
   [ 2]     qtv    move PORT_TURN   dir SOUTH  loc 2810,-2052  DistToNext 50.000000
    Speed 0, FLAG 1
     time  0.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir WEST  loc 4557,-3265  DistToNext 0.000000
    Speed 2, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move PORT_TURN   dir SOUTH_WEST  loc 4557,-3265  DistToNext 59.396969
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move FORWARD   dir SOUTH_WEST  loc 4515,-3307  DistToNext 0.000000
    Speed 3, FLAG 1
     time 35.64   tot 35.64
   [ 3]     qtv    move PORT_TURN   dir SOUTH  loc 4515,-3307  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot 35.64
   [ 4]     qtv    move FORWARD   dir SOUTH  loc 4515,-3367  DistToNext 0.000000
    Speed 5, FLAG 1
     time 21.60   tot 57.24
   [ 5]     qtv    move PORT_TURN   dir SOUTH_EAST  loc 4515,-3367  DistToNext 59.396969
    Speed 0, FLAG 1
     time  0.00   tot 57.24
   [ 6]     qtv    move FORWARD   dir SOUTH_EAST  loc 4557,-3409  DistToNext 0.000000
    Speed 4, FLAG 1
     time 26.73   tot 83.97
   [ 7]     qtv    move PORT_TURN   dir EAST  loc 4557,-3409  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot 83.97
   [ 8]     qtv    move FORWARD   dir EAST  loc 4617,-3409  DistToNext 0.000000
    Speed 5, FLAG 1
     time 21.60   tot 105.57
   [ 9]     qtv    move PORT_TURN   dir NORTH_EAST  loc 4617,-3409  DistToNext 59.396969
    Speed 0, FLAG 1
     time  0.00   tot 105.57
   [10]     qtv    move FORWARD   dir NORTH_EAST  loc 4659,-3367  DistToNext 0.000000
    Speed 3, FLAG 1
     time 35.64   tot 141.20
   [11]     qtv    move PORT_TURN   dir NORTH  loc 4659,-3367  DistToNext 42.000000
    Speed 0, FLAG 1
     time  0.00   tot 141.20
   [12]     qtv    move FORWARD   dir NORTH  loc 4659,-3325  DistToNext 25.000000
    Speed 2, FLAG 1
     time 37.80   tot 179.00
   [13]     qtv    move FORWARD   dir NORTH  loc 4659,-3350  DistToNext 0.000000
    Speed 2, FLAG 2
     time 22.50   tot 201.50
  End Path <===
* ==> Start Path
   [ 0]     qtv    move STBD_TURN   dir EAST  loc 2119,379  DistToNext 50.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir EAST  loc 2154,344  DistToNext 0.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
   [ 2]     qtv    move STBD_TURN   dir SOUTH_EAST  loc 2154,344  DistToNext 50.000000
    Speed 0, FLAG 1
     time  0.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move STBD_TURN   dir EAST  loc 2322,-590  DistToNext 50.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir EAST  loc 2357,-625  DistToNext 50.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir SOUTH_WEST  loc 3716,-1831  DistToNext 98.994949
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir SOUTH_WEST  loc 3646,-1901  DistToNext 0.000000
    Speed 1, FLAG 1
     time 178.19   tot 178.19
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir EAST  loc 2987,-2747  DistToNext 0.000000
    Speed 2, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move PORT_TURN   dir NORTH_EAST  loc 2987,-2747  DistToNext 69.296463
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move FORWARD   dir NORTH_EAST  loc 3036,-2698  DistToNext 0.000000
    Speed 1, FLAG 1
     time 124.73   tot 124.73
   [ 3]     qtv    move PORT_TURN   dir NORTH  loc 3036,-2698  DistToNext 30.000000
    Speed 0, FLAG 1
     time  0.00   tot 124.73
   [ 4]     qtv    move FORWARD   dir NORTH  loc 3036,-2668  DistToNext 9.000000
    Speed 1, FLAG 1
     time 54.00   tot 178.73
   [ 5]     qtv    move FORWARD   dir NORTH  loc 3036,-2659  DistToNext 0.000000
    Speed 1, FLAG 2
     time 16.20   tot 194.93
  End Path <===
* ==> Start Path
   [ 0]     qtv    move PORT_TURN   dir NORTH_EAST  loc 3973,-671  DistToNext 69.296463
    Speed 4, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir NORTH_EAST  loc 4022,-622  DistToNext 0.000000
    Speed 4, FLAG 1
     time 31.18   tot 31.18
   [ 2]     qtv    move STBD_TURN   dir EAST  loc 4022,-622  DistToNext 70.000000
    Speed 0, FLAG 1
     time  0.00   tot 31.18
   [ 3]     qtv    move FORWARD   dir EAST  loc 4092,-622  DistToNext 0.000000
    Speed 6, FLAG 1
     time 21.00   tot 52.18
   [ 4]     qtv    move STBD_TURN   dir SOUTH_EAST  loc 4092,-622  DistToNext 350.724976
    Speed 0, FLAG 1
     time  0.00   tot 52.18
   [ 5]     qtv    move FORWARD   dir SOUTH_EAST  loc 4340,-870  DistToNext 0.000000
    Speed 5, FLAG 1
     time 126.26   tot 178.44
  End Path <===
* ==> Start Path
   [ 0]     qtv    move PORT_TURN   dir SOUTH_EAST  loc 3679,160  DistToNext 69.296463
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir SOUTH_EAST  loc 3728,111  DistToNext 0.000000
    Speed 1, FLAG 1
     time 124.73   tot 124.73
   [ 2]     qtv    move STBD_TURN   dir SOUTH  loc 3728,111  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot 124.73
   [ 3]     qtv    move FORWARD   dir SOUTH  loc 3728,51  DistToNext 51.000000
    Speed 2, FLAG 1
     time 54.00   tot 178.73
   [ 4]     qtv    move FORWARD   dir SOUTH  loc 3728,102  DistToNext 0.000000
    Speed 2, FLAG 2
     time 45.90   tot 224.63
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir NORTH  loc 2267,-666  DistToNext 50.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir NORTH  loc 2302,-701  DistToNext 0.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
   [ 2]     qtv    move STBD_TURN   dir NORTH_EAST  loc 2302,-701  DistToNext 50.000000
    Speed 0, FLAG 1
     time  0.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir NORTH  loc 4362,689  DistToNext 100.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir NORTH  loc 4362,789  DistToNext 0.000000
    Speed 1, FLAG 1
     time 180.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir NORTH  loc 3829,2008  DistToNext 100.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir NORTH  loc 3829,2108  DistToNext 0.000000
    Speed 1, FLAG 1
     time 180.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir WEST  loc 2622,-1043  DistToNext 0.000000
    Speed 2, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move PORT_TURN   dir SOUTH_WEST  loc 2622,-1043  DistToNext 0.000000
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move STBD_TURN   dir WEST  loc 2622,-1043  DistToNext 60.000000
    Speed 2, FLAG 1
     time  0.00   tot  0.00
   [ 3]     qtv    move FORWARD   dir WEST  loc 2562,-1043  DistToNext 0.000000
    Speed 2, FLAG 1
     time 54.00   tot 54.00
   [ 4]     qtv    move STBD_TURN   dir NORTH_WEST  loc 2562,-1043  DistToNext 60.811184
    Speed 2, FLAG 1
     time  0.00   tot 54.00
   [ 5]     qtv    move FORWARD   dir NORTH_WEST  loc 2519,-1000  DistToNext 0.000000
    Speed 2, FLAG 1
     time 54.73   tot 108.73
   [ 6]     qtv    move STBD_TURN   dir NORTH  loc 2519,-1000  DistToNext 0.000000
    Speed 2, FLAG 1
     time  0.00   tot 108.73
   [ 7]     qtv    move STBD_TURN   dir NORTH_EAST  loc 2519,-1000  DistToNext 60.811184
    Speed 0, FLAG 1
     time  0.00   tot 108.73
   [ 8]     qtv    move FORWARD   dir NORTH_EAST  loc 2562,-957  DistToNext 0.000000
    Speed 4, FLAG 1
     time 27.36   tot 136.09
   [ 9]     qtv    move PORT_TURN   dir NORTH  loc 2562,-957  DistToNext 48.000000
    Speed 4, FLAG 1
     time  0.00   tot 136.09
   [10]     qtv    move FORWARD   dir NORTH  loc 2562,-909  DistToNext 37.000000
    Speed 2, FLAG 1
     time 43.20   tot 179.29
   [11]     qtv    move FORWARD   dir NORTH  loc 2562,-946  DistToNext 0.000000
    Speed 2, FLAG 2
     time 33.30   tot 212.59
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir NORTH  loc 3501,1809  DistToNext 100.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir NORTH  loc 3501,1909  DistToNext 0.000000
    Speed 1, FLAG 1
     time 180.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir NORTH  loc 4529,311  DistToNext 100.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir NORTH  loc 4529,411  DistToNext 0.000000
    Speed 1, FLAG 1
     time 180.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir NORTH  loc 3852,1132  DistToNext 100.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir NORTH  loc 3852,1232  DistToNext 0.000000
    Speed 1, FLAG 1
     time 180.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move PORT_TURN   dir EAST  loc 3741,116  DistToNext 60.000000
    Speed 4, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir EAST  loc 3801,116  DistToNext 0.000000
    Speed 4, FLAG 1
     time 27.00   tot 27.00
   [ 2]     qtv    move STBD_TURN   dir SOUTH_EAST  loc 3801,116  DistToNext 59.396969
    Speed 0, FLAG 1
     time  0.00   tot 27.00
   [ 3]     qtv    move FORWARD   dir SOUTH_EAST  loc 3843,74  DistToNext 0.000000
    Speed 3, FLAG 1
     time 35.64   tot 62.64
   [ 4]     qtv    move STBD_TURN   dir SOUTH  loc 3843,74  DistToNext 260.000000
    Speed 0, FLAG 1
     time  0.00   tot 62.64
   [ 5]     qtv    move FORWARD   dir SOUTH  loc 3843,-186  DistToNext 0.000000
    Speed 4, FLAG 1
     time 117.00   tot 179.64
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir NORTH  loc 1273,157  DistToNext 50.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir NORTH  loc 1308,122  DistToNext 0.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
   [ 2]     qtv    move STBD_TURN   dir NORTH_EAST  loc 1308,122  DistToNext 50.000000
    Speed 0, FLAG 1
     time  0.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move STBD_TURN   dir SOUTH_EAST  loc 2070,336  DistToNext 50.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir SOUTH_EAST  loc 2105,301  DistToNext 0.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
   [ 2]     qtv    move STBD_TURN   dir SOUTH  loc 2105,301  DistToNext 50.000000
    Speed 0, FLAG 1
     time  0.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir NORTH  loc 4488,-3213  DistToNext 0.000000
    Speed 2, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move STBD_TURN   dir NORTH_EAST  loc 4488,-3213  DistToNext 59.396969
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move FORWARD   dir NORTH_EAST  loc 4530,-3171  DistToNext 0.000000
    Speed 3, FLAG 1
     time 35.64   tot 35.64
   [ 3]     qtv    move STBD_TURN   dir EAST  loc 4530,-3171  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot 35.64
   [ 4]     qtv    move FORWARD   dir EAST  loc 4590,-3171  DistToNext 0.000000
    Speed 5, FLAG 1
     time 21.60   tot 57.24
   [ 5]     qtv    move STBD_TURN   dir SOUTH_EAST  loc 4590,-3171  DistToNext 59.396969
    Speed 0, FLAG 1
     time  0.00   tot 57.24
   [ 6]     qtv    move FORWARD   dir SOUTH_EAST  loc 4632,-3213  DistToNext 0.000000
    Speed 4, FLAG 1
     time 26.73   tot 83.97
   [ 7]     qtv    move STBD_TURN   dir SOUTH  loc 4632,-3213  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot 83.97
   [ 8]     qtv    move FORWARD   dir SOUTH  loc 4632,-3273  DistToNext 0.000000
    Speed 5, FLAG 1
     time 21.60   tot 105.57
   [ 9]     qtv    move STBD_TURN   dir SOUTH_WEST  loc 4632,-3273  DistToNext 59.396969
    Speed 0, FLAG 1
     time  0.00   tot 105.57
   [10]     qtv    move FORWARD   dir SOUTH_WEST  loc 4590,-3315  DistToNext 0.000000
    Speed 3, FLAG 1
     time 35.64   tot 141.20
   [11]     qtv    move STBD_TURN   dir WEST  loc 4590,-3315  DistToNext 42.000000
    Speed 0, FLAG 1
     time  0.00   tot 141.20
   [12]     qtv    move FORWARD   dir WEST  loc 4548,-3315  DistToNext 25.000000
    Speed 2, FLAG 1
     time 37.80   tot 179.00
   [13]     qtv    move FORWARD   dir WEST  loc 4573,-3315  DistToNext 0.000000
    Speed 2, FLAG 2
     time 22.50   tot 201.50
  End Path <===
* ==> Start Path
   [ 0]     qtv    move PORT_TURN   dir NORTH_EAST  loc 2458,-342  DistToNext 50.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir NORTH_EAST  loc 2493,-377  DistToNext 0.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
   [ 2]     qtv    move PORT_TURN   dir NORTH  loc 2493,-377  DistToNext 50.000000
    Speed 0, FLAG 1
     time  0.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move STBD_TURN   dir SOUTH_WEST  loc 2489,-184  DistToNext 50.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir SOUTH_WEST  loc 2524,-219  DistToNext 0.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
   [ 2]     qtv    move STBD_TURN   dir WEST  loc 2524,-219  DistToNext 50.000000
    Speed 0, FLAG 1
     time  0.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move STBD_TURN   dir SOUTH  loc 2335,-771  DistToNext 50.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir SOUTH  loc 2370,-806  DistToNext 0.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
   [ 2]     qtv    move PORT_TURN   dir SOUTH_EAST  loc 2370,-806  DistToNext 50.000000
    Speed 0, FLAG 1
     time  0.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move STBD_TURN   dir WEST  loc 2033,-150  DistToNext 50.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir WEST  loc 2068,-185  DistToNext 0.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
   [ 2]     qtv    move PORT_TURN   dir SOUTH_WEST  loc 2068,-185  DistToNext 50.000000
    Speed 0, FLAG 1
     time  0.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move PORT_TURN   dir SOUTH  loc 2810,-2052  DistToNext 50.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir SOUTH  loc 2845,-2087  DistToNext 50.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir NORTH  loc 4659,-3325  DistToNext 0.000000
    Speed 2, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move STBD_TURN   dir NORTH_EAST  loc 4659,-3325  DistToNext 59.396969
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move FORWARD   dir NORTH_EAST  loc 4701,-3283  DistToNext 0.000000
    Speed 3, FLAG 1
     time 35.64   tot 35.64
   [ 3]     qtv    move STBD_TURN   dir EAST  loc 4701,-3283  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot 35.64
   [ 4]     qtv    move FORWARD   dir EAST  loc 4761,-3283  DistToNext 0.000000
    Speed 5, FLAG 1
     time 21.60   tot 57.24
   [ 5]     qtv    move STBD_TURN   dir SOUTH_EAST  loc 4761,-3283  DistToNext 59.396969
    Speed 0, FLAG 1
     time  0.00   tot 57.24
   [ 6]     qtv    move FORWARD   dir SOUTH_EAST  loc 4803,-3325  DistToNext 0.000000
    Speed 4, FLAG 1
     time 26.73   tot 83.97
   [ 7]     qtv    move STBD_TURN   dir SOUTH  loc 4803,-3325  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot 83.97
   [ 8]     qtv    move FORWARD   dir SOUTH  loc 4803,-3385  DistToNext 0.000000
    Speed 5, FLAG 1
     time 21.60   tot 105.57
   [ 9]     qtv    move STBD_TURN   dir SOUTH_WEST  loc 4803,-3385  DistToNext 59.396969
    Speed 0, FLAG 1
     time  0.00   tot 105.57
   [10]     qtv    move FORWARD   dir SOUTH_WEST  loc 4761,-3427  DistToNext 0.000000
    Speed 3, FLAG 1
     time 35.64   tot 141.20
   [11]     qtv    move STBD_TURN   dir WEST  loc 4761,-3427  DistToNext 42.000000
    Speed 0, FLAG 1
     time  0.00   tot 141.20
   [12]     qtv    move FORWARD   dir WEST  loc 4719,-3427  DistToNext 25.000000
    Speed 2, FLAG 1
     time 37.80   tot 179.00
   [13]     qtv    move FORWARD   dir WEST  loc 4744,-3427  DistToNext 0.000000
    Speed 2, FLAG 2
     time 22.50   tot 201.50
  End Path <===
* ==> Start Path
   [ 0]     qtv    move STBD_TURN   dir SOUTH_EAST  loc 2154,344  DistToNext 50.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir SOUTH_EAST  loc 2189,309  DistToNext 0.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
   [ 2]     qtv    move PORT_TURN   dir EAST  loc 2189,309  DistToNext 50.000000
    Speed 0, FLAG 1
     time  0.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir EAST  loc 2357,-625  DistToNext 50.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir EAST  loc 2392,-660  DistToNext 0.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
   [ 2]     qtv    move PORT_TURN   dir NORTH_EAST  loc 2392,-660  DistToNext 50.000000
    Speed 0, FLAG 1
     time  0.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir SOUTH_WEST  loc 3646,-1901  DistToNext 98.994949
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir SOUTH_WEST  loc 3576,-1971  DistToNext 0.000000
    Speed 1, FLAG 1
     time 178.19   tot 178.19
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir NORTH  loc 3036,-2668  DistToNext 100.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir NORTH  loc 3036,-2568  DistToNext 0.000000
    Speed 1, FLAG 1
     time 180.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir SOUTH_EAST  loc 4340,-870  DistToNext 0.000000
    Speed 5, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move PORT_TURN   dir EAST  loc 4340,-870  DistToNext 140.000000
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move FORWARD   dir EAST  loc 4480,-870  DistToNext 0.000000
    Speed 6, FLAG 1
     time 42.00   tot 42.00
   [ 3]     qtv    move PORT_TURN   dir NORTH_EAST  loc 4480,-870  DistToNext 70.710678
    Speed 0, FLAG 1
     time  0.00   tot 42.00
   [ 4]     qtv    move FORWARD   dir NORTH_EAST  loc 4530,-820  DistToNext 0.000000
    Speed 4, FLAG 1
     time 31.82   tot 73.82
   [ 5]     qtv    move PORT_TURN   dir NORTH  loc 4530,-820  DistToNext 70.000000
    Speed 4, FLAG 1
     time  0.00   tot 73.82
   [ 6]     qtv    move FORWARD   dir NORTH  loc 4530,-750  DistToNext 0.000000
    Speed 2, FLAG 1
     time 63.00   tot 136.82
   [ 7]     qtv    move PORT_TURN   dir NORTH_WEST  loc 4530,-750  DistToNext 0.000000
    Speed 2, FLAG 1
     time  0.00   tot 136.82
   [ 8]     qtv    move PORT_TURN   dir WEST  loc 4530,-750  DistToNext 70.000000
    Speed 0, FLAG 1
     time  0.00   tot 136.82
   [ 9]     qtv    move FORWARD   dir WEST  loc 4460,-750  DistToNext 0.000000
    Speed 2, FLAG 1
     time 63.00   tot 199.82
   [10]     qtv    move STBD_TURN   dir NORTH_WEST  loc 4460,-750  DistToNext -5.505498
    Speed 2, FLAG 1
     time  0.00   tot 199.82
   [11]     qtv    move FORWARD   dir NORTH_WEST  loc 4463,-753  DistToNext 0.000000
    Speed -1, FLAG 1
     time -19.82   tot 180.00
   [12]     qtv    move PORT_TURN   dir WEST  loc 4463,-753  DistToNext -5.505498
    Speed 0, FLAG 1
     time  0.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move PORT_TURN   dir SOUTH  loc 3728,51  DistToNext 200.000000
    Speed 2, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir SOUTH  loc 3728,-149  DistToNext 0.000000
    Speed 2, FLAG 1
     time 180.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move STBD_TURN   dir NORTH_EAST  loc 2302,-701  DistToNext 50.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir NORTH_EAST  loc 2337,-736  DistToNext 0.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
   [ 2]     qtv    move STBD_TURN   dir EAST  loc 2337,-736  DistToNext 50.000000
    Speed 0, FLAG 1
     time  0.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir NORTH  loc 4362,789  DistToNext 100.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir NORTH  loc 4362,889  DistToNext 0.000000
    Speed 1, FLAG 1
     time 180.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir NORTH  loc 3829,2108  DistToNext 100.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir NORTH  loc 3829,2208  DistToNext 0.000000
    Speed 1, FLAG 1
     time 180.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir NORTH  loc 2562,-909  DistToNext 0.000000
    Speed 2, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move STBD_TURN   dir NORTH_EAST  loc 2562,-909  DistToNext 59.396969
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move FORWARD   dir NORTH_EAST  loc 2604,-867  DistToNext 0.000000
    Speed 4, FLAG 1
     time 26.73   tot 26.73
   [ 3]     qtv    move STBD_TURN   dir EAST  loc 2604,-867  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot 26.73
   [ 4]     qtv    move FORWARD   dir EAST  loc 2664,-867  DistToNext 0.000000
    Speed 6, FLAG 1
     time 18.00   tot 44.73
   [ 5]     qtv    move STBD_TURN   dir SOUTH_EAST  loc 2664,-867  DistToNext 118.793938
    Speed 0, FLAG 1
     time  0.00   tot 44.73
   [ 6]     qtv    move FORWARD   dir SOUTH_EAST  loc 2748,-951  DistToNext 0.000000
    Speed 5, FLAG 1
     time 42.77   tot 87.49
   [ 7]     qtv    move STBD_TURN   dir SOUTH  loc 2748,-951  DistToNext 120.000000
    Speed 0, FLAG 1
     time  0.00   tot 87.49
   [ 8]     qtv    move FORWARD   dir SOUTH  loc 2748,-1071  DistToNext 0.000000
    Speed 6, FLAG 1
     time 36.00   tot 123.49
   [ 9]     qtv    move STBD_TURN   dir SOUTH_WEST  loc 2748,-1071  DistToNext 118.793938
    Speed 0, FLAG 1
     time  0.00   tot 123.49
   [10]     qtv    move FORWARD   dir SOUTH_WEST  loc 2664,-1155  DistToNext 0.000000
    Speed 4, FLAG 1
     time 53.46   tot 176.95
   [11]     qtv    move STBD_TURN   dir WEST  loc 2664,-1155  DistToNext 2.000000
    Speed 0, FLAG 1
     time  0.00   tot 176.95
   [12]     qtv    move FORWARD   dir WEST  loc 2662,-1155  DistToNext 55.000000
    Speed 2, FLAG 1
     time  1.80   tot 178.75
   [13]     qtv    move FORWARD   dir WEST  loc 2607,-1155  DistToNext 0.000000
    Speed 2, FLAG 2
     time 49.50   tot 228.25
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir NORTH  loc 3501,1909  DistToNext 100.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir NORTH  loc 3501,2009  DistToNext 0.000000
    Speed 1, FLAG 1
     time 180.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir NORTH  loc 4529,411  DistToNext 100.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir NORTH  loc 4529,511  DistToNext 0.000000
    Speed 1, FLAG 1
     time 180.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir NORTH  loc 3852,1232  DistToNext 100.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir NORTH  loc 3852,1332  DistToNext 0.000000
    Speed 1, FLAG 1
     time 180.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir SOUTH  loc 3843,-186  DistToNext 0.000000
    Speed 4, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move PORT_TURN   dir SOUTH_EAST  loc 3843,-186  DistToNext 59.396969
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move FORWARD   dir SOUTH_EAST  loc 3885,-228  DistToNext 0.000000
    Speed 3, FLAG 1
     time 35.64   tot 35.64
   [ 3]     qtv    move PORT_TURN   dir EAST  loc 3885,-228  DistToNext 120.000000
    Speed 0, FLAG 1
     time  0.00   tot 35.64
   [ 4]     qtv    move FORWARD   dir EAST  loc 4005,-228  DistToNext 0.000000
    Speed 4, FLAG 1
     time 54.00   tot 89.64
   [ 5]     qtv    move PORT_TURN   dir NORTH_EAST  loc 4005,-228  DistToNext 60.811184
    Speed 0, FLAG 1
     time  0.00   tot 89.64
   [ 6]     qtv    move FORWARD   dir NORTH_EAST  loc 4048,-185  DistToNext 0.000000
    Speed 2, FLAG 1
     time 54.73   tot 144.37
   [ 7]     qtv    move PORT_TURN   dir NORTH  loc 4048,-185  DistToNext 60.000000
    Speed 2, FLAG 1
     time  0.00   tot 144.37
   [ 8]     qtv    move FORWARD   dir NORTH  loc 4048,-125  DistToNext 0.000000
    Speed 1, FLAG 1
     time 108.00   tot 252.37
   [ 9]     qtv    move PORT_TURN   dir NORTH_WEST  loc 4048,-125  DistToNext 0.000000
    Speed 1, FLAG 1
     time  0.00   tot 252.37
   [10]     qtv    move PORT_TURN   dir WEST  loc 4048,-125  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot 252.37
   [11]     qtv    move FORWARD   dir WEST  loc 3988,-125  DistToNext 0.000000
    Speed 1, FLAG 1
     time 108.00   tot 360.37
   [12]     qtv    move STBD_TURN   dir NORTH_WEST  loc 3988,-125  DistToNext -50.102295
    Speed 1, FLAG 1
     time  0.00   tot 360.37
   [13]     qtv    move FORWARD   dir NORTH_WEST  loc 4023,-160  DistToNext 0.000000
    Speed -1, FLAG 1
     time -180.37   tot 180.00
   [14]     qtv    move PORT_TURN   dir WEST  loc 4023,-160  DistToNext -50.102295
    Speed 0, FLAG 1
     time  0.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move STBD_TURN   dir NORTH_EAST  loc 1308,122  DistToNext 50.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir NORTH_EAST  loc 1343,87  DistToNext 0.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
   [ 2]     qtv    move STBD_TURN   dir EAST  loc 1343,87  DistToNext 50.000000
    Speed 0, FLAG 1
     time  0.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move STBD_TURN   dir SOUTH  loc 2105,301  DistToNext 50.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir SOUTH  loc 2140,266  DistToNext 0.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
   [ 2]     qtv    move STBD_TURN   dir SOUTH_WEST  loc 2140,266  DistToNext 50.000000
    Speed 0, FLAG 1
     time  0.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir WEST  loc 4548,-3315  DistToNext 0.000000
    Speed 2, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move PORT_TURN   dir SOUTH_WEST  loc 4548,-3315  DistToNext 59.396969
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move FORWARD   dir SOUTH_WEST  loc 4506,-3357  DistToNext 0.000000
    Speed 3, FLAG 1
     time 35.64   tot 35.64
   [ 3]     qtv    move PORT_TURN   dir SOUTH  loc 4506,-3357  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot 35.64
   [ 4]     qtv    move FORWARD   dir SOUTH  loc 4506,-3417  DistToNext 0.000000
    Speed 5, FLAG 1
     time 21.60   tot 57.24
   [ 5]     qtv    move PORT_TURN   dir SOUTH_EAST  loc 4506,-3417  DistToNext 59.396969
    Speed 0, FLAG 1
     time  0.00   tot 57.24
   [ 6]     qtv    move FORWARD   dir SOUTH_EAST  loc 4548,-3459  DistToNext 0.000000
    Speed 4, FLAG 1
     time 26.73   tot 83.97
   [ 7]     qtv    move PORT_TURN   dir EAST  loc 4548,-3459  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot 83.97
   [ 8]     qtv    move FORWARD   dir EAST  loc 4608,-3459  DistToNext 0.000000
    Speed 5, FLAG 1
     time 21.60   tot 105.57
   [ 9]     qtv    move PORT_TURN   dir NORTH_EAST  loc 4608,-3459  DistToNext 59.396969
    Speed 0, FLAG 1
     time  0.00   tot 105.57
   [10]     qtv    move FORWARD   dir NORTH_EAST  loc 4650,-3417  DistToNext 0.000000
    Speed 3, FLAG 1
     time 35.64   tot 141.20
   [11]     qtv    move PORT_TURN   dir NORTH  loc 4650,-3417  DistToNext 42.000000
    Speed 0, FLAG 1
     time  0.00   tot 141.20
   [12]     qtv    move FORWARD   dir NORTH  loc 4650,-3375  DistToNext 25.000000
    Speed 2, FLAG 1
     time 37.80   tot 179.00
   [13]     qtv    move FORWARD   dir NORTH  loc 4650,-3400  DistToNext 0.000000
    Speed 2, FLAG 2
     time 22.50   tot 201.50
  End Path <===
* ==> Start Path
   [ 0]     qtv    move PORT_TURN   dir NORTH  loc 2493,-377  DistToNext 50.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir NORTH  loc 2528,-412  DistToNext 0.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
   [ 2]     qtv    move STBD_TURN   dir NORTH_EAST  loc 2528,-412  DistToNext 50.000000
    Speed 0, FLAG 1
     time  0.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move STBD_TURN   dir WEST  loc 2524,-219  DistToNext 50.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir WEST  loc 2559,-254  DistToNext 0.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
   [ 2]     qtv    move PORT_TURN   dir SOUTH_WEST  loc 2559,-254  DistToNext 50.000000
    Speed 0, FLAG 1
     time  0.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move PORT_TURN   dir SOUTH_EAST  loc 2370,-806  DistToNext 50.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir SOUTH_EAST  loc 2405,-841  DistToNext 0.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
   [ 2]     qtv    move PORT_TURN   dir EAST  loc 2405,-841  DistToNext 50.000000
    Speed 0, FLAG 1
     time  0.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move PORT_TURN   dir SOUTH_WEST  loc 2068,-185  DistToNext 50.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir SOUTH_WEST  loc 2103,-220  DistToNext 0.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
   [ 2]     qtv    move PORT_TURN   dir SOUTH  loc 2103,-220  DistToNext 50.000000
    Speed 0, FLAG 1
     time  0.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir SOUTH  loc 2845,-2087  DistToNext 50.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir SOUTH  loc 2880,-2122  DistToNext 0.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
   [ 2]     qtv    move PORT_TURN   dir SOUTH_EAST  loc 2880,-2122  DistToNext 50.000000
    Speed 0, FLAG 1
     time  0.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir WEST  loc 4719,-3427  DistToNext 0.000000
    Speed 2, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move PORT_TURN   dir SOUTH_WEST  loc 4719,-3427  DistToNext 59.396969
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move FORWARD   dir SOUTH_WEST  loc 4677,-3469  DistToNext 0.000000
    Speed 3, FLAG 1
     time 35.64   tot 35.64
   [ 3]     qtv    move PORT_TURN   dir SOUTH  loc 4677,-3469  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot 35.64
   [ 4]     qtv    move FORWARD   dir SOUTH  loc 4677,-3529  DistToNext 0.000000
    Speed 5, FLAG 1
     time 21.60   tot 57.24
   [ 5]     qtv    move PORT_TURN   dir SOUTH_EAST  loc 4677,-3529  DistToNext 59.396969
    Speed 0, FLAG 1
     time  0.00   tot 57.24
   [ 6]     qtv    move FORWARD   dir SOUTH_EAST  loc 4719,-3571  DistToNext 0.000000
    Speed 4, FLAG 1
     time 26.73   tot 83.97
   [ 7]     qtv    move PORT_TURN   dir EAST  loc 4719,-3571  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot 83.97
   [ 8]     qtv    move FORWARD   dir EAST  loc 4779,-3571  DistToNext 0.000000
    Speed 5, FLAG 1
     time 21.60   tot 105.57
   [ 9]     qtv    move PORT_TURN   dir NORTH_EAST  loc 4779,-3571  DistToNext 59.396969
    Speed 0, FLAG 1
     time  0.00   tot 105.57
   [10]     qtv    move FORWARD   dir NORTH_EAST  loc 4821,-3529  DistToNext 0.000000
    Speed 3, FLAG 1
     time 35.64   tot 141.20
   [11]     qtv    move PORT_TURN   dir NORTH  loc 4821,-3529  DistToNext 42.000000
    Speed 0, FLAG 1
     time  0.00   tot 141.20
   [12]     qtv    move FORWARD   dir NORTH  loc 4821,-3487  DistToNext 25.000000
    Speed 2, FLAG 1
     time 37.80   tot 179.00
   [13]     qtv    move FORWARD   dir NORTH  loc 4821,-3512  DistToNext 0.000000
    Speed 2, FLAG 2
     time 22.50   tot 201.50
  End Path <===
* ==> Start Path
   [ 0]     qtv    move PORT_TURN   dir EAST  loc 2189,309  DistToNext 50.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir EAST  loc 2224,274  DistToNext 0.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
   [ 2]     qtv    move PORT_TURN   dir NORTH_EAST  loc 2224,274  DistToNext 50.000000
    Speed 0, FLAG 1
     time  0.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move PORT_TURN   dir NORTH_EAST  loc 2392,-660  DistToNext 50.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir NORTH_EAST  loc 2427,-695  DistToNext 0.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
   [ 2]     qtv    move PORT_TURN   dir NORTH  loc 2427,-695  DistToNext 50.000000
    Speed 0, FLAG 1
     time  0.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir SOUTH_WEST  loc 3576,-1971  DistToNext 98.994949
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir SOUTH_WEST  loc 3506,-2041  DistToNext 0.000000
    Speed 1, FLAG 1
     time 178.19   tot 178.19
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir NORTH  loc 3036,-2568  DistToNext 100.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir NORTH  loc 3036,-2468  DistToNext 0.000000
    Speed 1, FLAG 1
     time 180.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move PORT_TURN   dir WEST  loc 4463,-753  DistToNext 70.000000
    Speed 2, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir WEST  loc 4393,-753  DistToNext 0.000000
    Speed 2, FLAG 1
     time 63.00   tot 63.00
   [ 2]     qtv    move PORT_TURN   dir SOUTH_WEST  loc 4393,-753  DistToNext 69.296463
    Speed 0, FLAG 1
     time  0.00   tot 63.00
   [ 3]     qtv    move FORWARD   dir SOUTH_WEST  loc 4344,-802  DistToNext 0.000000
    Speed 4, FLAG 1
     time 31.18   tot 94.18
   [ 4]     qtv    move PORT_TURN   dir SOUTH  loc 4344,-802  DistToNext 70.000000
    Speed 0, FLAG 1
     time  0.00   tot 94.18
   [ 5]     qtv    move FORWARD   dir SOUTH  loc 4344,-872  DistToNext 0.000000
    Speed 6, FLAG 1
     time 21.00   tot 115.18
   [ 6]     qtv    move PORT_TURN   dir SOUTH_EAST  loc 4344,-872  DistToNext 69.296463
    Speed 0, FLAG 1
     time  0.00   tot 115.18
   [ 7]     qtv    move FORWARD   dir SOUTH_EAST  loc 4393,-921  DistToNext 0.000000
    Speed 5, FLAG 1
     time 24.95   tot 140.13
   [ 8]     qtv    move PORT_TURN   dir EAST  loc 4393,-921  DistToNext 70.000000
    Speed 0, FLAG 1
     time  0.00   tot 140.13
   [ 9]     qtv    move FORWARD   dir EAST  loc 4463,-921  DistToNext 0.000000
    Speed 6, FLAG 1
     time 21.00   tot 161.13
   [10]     qtv    move PORT_TURN   dir NORTH_EAST  loc 4463,-921  DistToNext 39.597980
    Speed 0, FLAG 1
     time  0.00   tot 161.13
   [11]     qtv    move FORWARD   dir NORTH_EAST  loc 4491,-893  DistToNext 11.313708
    Speed 4, FLAG 1
     time 17.82   tot 178.95
   [12]     qtv    move FORWARD   dir NORTH_EAST  loc 4483,-901  DistToNext 0.000000
    Speed 4, FLAG 2
     time  5.09   tot 184.04
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir SOUTH  loc 3728,-149  DistToNext 0.000000
    Speed 2, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move PORT_TURN   dir SOUTH_EAST  loc 3728,-149  DistToNext 69.296463
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move FORWARD   dir SOUTH_EAST  loc 3777,-198  DistToNext 0.000000
    Speed 1, FLAG 1
     time 124.73   tot 124.73
   [ 3]     qtv    move PORT_TURN   dir EAST  loc 3777,-198  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot 124.73
   [ 4]     qtv    move FORWARD   dir EAST  loc 3837,-198  DistToNext 51.000000
    Speed 2, FLAG 1
     time 54.00   tot 178.73
   [ 5]     qtv    move FORWARD   dir EAST  loc 3786,-198  DistToNext 0.000000
    Speed 2, FLAG 2
     time 45.90   tot 224.63
  End Path <===
* ==> Start Path
   [ 0]     qtv    move STBD_TURN   dir EAST  loc 2337,-736  DistToNext 50.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir EAST  loc 2372,-771  DistToNext 0.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
   [ 2]     qtv    move PORT_TURN   dir NORTH_EAST  loc 2372,-771  DistToNext 50.000000
    Speed 0, FLAG 1
     time  0.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir NORTH  loc 4362,889  DistToNext 100.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir NORTH  loc 4362,989  DistToNext 0.000000
    Speed 1, FLAG 1
     time 180.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir NORTH  loc 3829,2208  DistToNext 100.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir NORTH  loc 3829,2308  DistToNext 0.000000
    Speed 1, FLAG 1
     time 180.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir WEST  loc 2662,-1155  DistToNext 0.000000
    Speed 2, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move PORT_TURN   dir SOUTH_WEST  loc 2662,-1155  DistToNext 0.000000
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move STBD_TURN   dir WEST  loc 2662,-1155  DistToNext 60.000000
    Speed 2, FLAG 1
     time  0.00   tot  0.00
   [ 3]     qtv    move FORWARD   dir WEST  loc 2602,-1155  DistToNext 0.000000
    Speed 2, FLAG 1
     time 54.00   tot 54.00
   [ 4]     qtv    move STBD_TURN   dir NORTH_WEST  loc 2602,-1155  DistToNext 60.811184
    Speed 2, FLAG 1
     time  0.00   tot 54.00
   [ 5]     qtv    move FORWARD   dir NORTH_WEST  loc 2559,-1112  DistToNext 0.000000
    Speed 2, FLAG 1
     time 54.73   tot 108.73
   [ 6]     qtv    move STBD_TURN   dir NORTH  loc 2559,-1112  DistToNext 0.000000
    Speed 2, FLAG 1
     time  0.00   tot 108.73
   [ 7]     qtv    move STBD_TURN   dir NORTH_EAST  loc 2559,-1112  DistToNext 60.811184
    Speed 0, FLAG 1
     time  0.00   tot 108.73
   [ 8]     qtv    move FORWARD   dir NORTH_EAST  loc 2602,-1069  DistToNext 0.000000
    Speed 4, FLAG 1
     time 27.36   tot 136.09
   [ 9]     qtv    move STBD_TURN   dir EAST  loc 2602,-1069  DistToNext 120.000000
    Speed 4, FLAG 1
     time  0.00   tot 136.09
   [10]     qtv    move FORWARD   dir EAST  loc 2722,-1069  DistToNext 0.000000
    Speed 6, FLAG 1
     time 36.00   tot 172.09
   [11]     qtv    move PORT_TURN   dir NORTH_EAST  loc 2722,-1069  DistToNext 16.970562
    Speed 0, FLAG 1
     time  0.00   tot 172.09
   [12]     qtv    move FORWARD   dir NORTH_EAST  loc 2734,-1057  DistToNext 25.455845
    Speed 4, FLAG 1
     time  7.64   tot 179.73
   [13]     qtv    move FORWARD   dir NORTH_EAST  loc 2752,-1039  DistToNext 0.000000
    Speed 4, FLAG 2
     time 11.46   tot 191.19
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir NORTH  loc 3501,2009  DistToNext 100.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir NORTH  loc 3501,2109  DistToNext 0.000000
    Speed 1, FLAG 1
     time 180.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir NORTH  loc 4529,511  DistToNext 100.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir NORTH  loc 4529,611  DistToNext 0.000000
    Speed 1, FLAG 1
     time 180.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir NORTH  loc 3852,1332  DistToNext 100.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir NORTH  loc 3852,1432  DistToNext 0.000000
    Speed 1, FLAG 1
     time 180.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move PORT_TURN   dir NORTH  loc 4023,-160  DistToNext 100.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir NORTH  loc 4023,-60  DistToNext 21.000000
    Speed 1, FLAG 1
     time 180.00   tot 180.00
   [ 2]     qtv    move FORWARD   dir NORTH  loc 4023,-81  DistToNext 0.000000
    Speed 1, FLAG 2
     time 37.80   tot 217.80
  End Path <===
* ==> Start Path
   [ 0]     qtv    move STBD_TURN   dir EAST  loc 1343,87  DistToNext 50.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir EAST  loc 1378,52  DistToNext 0.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
   [ 2]     qtv    move PORT_TURN   dir NORTH_EAST  loc 1378,52  DistToNext 50.000000
    Speed 0, FLAG 1
     time  0.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move STBD_TURN   dir SOUTH_WEST  loc 2140,266  DistToNext 50.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir SOUTH_WEST  loc 2175,231  DistToNext 0.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
   [ 2]     qtv    move PORT_TURN   dir SOUTH  loc 2175,231  DistToNext 50.000000
    Speed 0, FLAG 1
     time  0.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir NORTH  loc 4650,-3375  DistToNext 0.000000
    Speed 2, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move STBD_TURN   dir NORTH_EAST  loc 4650,-3375  DistToNext 59.396969
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move FORWARD   dir NORTH_EAST  loc 4692,-3333  DistToNext 0.000000
    Speed 3, FLAG 1
     time 35.64   tot 35.64
   [ 3]     qtv    move STBD_TURN   dir EAST  loc 4692,-3333  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot 35.64
   [ 4]     qtv    move FORWARD   dir EAST  loc 4752,-3333  DistToNext 0.000000
    Speed 5, FLAG 1
     time 21.60   tot 57.24
   [ 5]     qtv    move STBD_TURN   dir SOUTH_EAST  loc 4752,-3333  DistToNext 59.396969
    Speed 0, FLAG 1
     time  0.00   tot 57.24
   [ 6]     qtv    move FORWARD   dir SOUTH_EAST  loc 4794,-3375  DistToNext 0.000000
    Speed 4, FLAG 1
     time 26.73   tot 83.97
   [ 7]     qtv    move STBD_TURN   dir SOUTH  loc 4794,-3375  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot 83.97
   [ 8]     qtv    move FORWARD   dir SOUTH  loc 4794,-3435  DistToNext 0.000000
    Speed 5, FLAG 1
     time 21.60   tot 105.57
   [ 9]     qtv    move STBD_TURN   dir SOUTH_WEST  loc 4794,-3435  DistToNext 59.396969
    Speed 0, FLAG 1
     time  0.00   tot 105.57
   [10]     qtv    move FORWARD   dir SOUTH_WEST  loc 4752,-3477  DistToNext 0.000000
    Speed 3, FLAG 1
     time 35.64   tot 141.20
   [11]     qtv    move STBD_TURN   dir WEST  loc 4752,-3477  DistToNext 42.000000
    Speed 0, FLAG 1
     time  0.00   tot 141.20
   [12]     qtv    move FORWARD   dir WEST  loc 4710,-3477  DistToNext 25.000000
    Speed 2, FLAG 1
     time 37.80   tot 179.00
   [13]     qtv    move FORWARD   dir WEST  loc 4735,-3477  DistToNext 0.000000
    Speed 2, FLAG 2
     time 22.50   tot 201.50
  End Path <===
* ==> Start Path
   [ 0]     qtv    move STBD_TURN   dir NORTH_EAST  loc 2528,-412  DistToNext 50.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir NORTH_EAST  loc 2563,-447  DistToNext 0.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
   [ 2]     qtv    move STBD_TURN   dir EAST  loc 2563,-447  DistToNext 50.000000
    Speed 0, FLAG 1
     time  0.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move PORT_TURN   dir SOUTH_WEST  loc 2559,-254  DistToNext 50.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir SOUTH_WEST  loc 2594,-289  DistToNext 0.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
   [ 2]     qtv    move PORT_TURN   dir SOUTH  loc 2594,-289  DistToNext 50.000000
    Speed 0, FLAG 1
     time  0.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move PORT_TURN   dir EAST  loc 2405,-841  DistToNext 50.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir EAST  loc 2440,-876  DistToNext 0.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
   [ 2]     qtv    move PORT_TURN   dir NORTH_EAST  loc 2440,-876  DistToNext 50.000000
    Speed 0, FLAG 1
     time  0.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move PORT_TURN   dir SOUTH  loc 2103,-220  DistToNext 50.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir SOUTH  loc 2138,-255  DistToNext 50.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move PORT_TURN   dir SOUTH_EAST  loc 2880,-2122  DistToNext 50.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir SOUTH_EAST  loc 2915,-2157  DistToNext 0.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
   [ 2]     qtv    move STBD_TURN   dir SOUTH  loc 2915,-2157  DistToNext 50.000000
    Speed 0, FLAG 1
     time  0.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir NORTH  loc 4821,-3487  DistToNext 0.000000
    Speed 2, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move STBD_TURN   dir NORTH_EAST  loc 4821,-3487  DistToNext 0.000000
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move PORT_TURN   dir NORTH  loc 4821,-3487  DistToNext 60.000000
    Speed 2, FLAG 1
     time  0.00   tot  0.00
   [ 3]     qtv    move FORWARD   dir NORTH  loc 4821,-3427  DistToNext 0.000000
    Speed 2, FLAG 1
     time 54.00   tot 54.00
   [ 4]     qtv    move PORT_TURN   dir NORTH_WEST  loc 4821,-3427  DistToNext 60.811184
    Speed 2, FLAG 1
     time  0.00   tot 54.00
   [ 5]     qtv    move FORWARD   dir NORTH_WEST  loc 4778,-3384  DistToNext 0.000000
    Speed 2, FLAG 1
     time 54.73   tot 108.73
   [ 6]     qtv    move PORT_TURN   dir WEST  loc 4778,-3384  DistToNext 0.000000
    Speed 2, FLAG 1
     time  0.00   tot 108.73
   [ 7]     qtv    move PORT_TURN   dir SOUTH_WEST  loc 4778,-3384  DistToNext 60.811184
    Speed 0, FLAG 1
     time  0.00   tot 108.73
   [ 8]     qtv    move FORWARD   dir SOUTH_WEST  loc 4735,-3427  DistToNext 0.000000
    Speed 3, FLAG 1
     time 36.49   tot 145.22
   [ 9]     qtv    move PORT_TURN   dir SOUTH  loc 4735,-3427  DistToNext 96.000000
    Speed 3, FLAG 1
     time  0.00   tot 145.22
   [10]     qtv    move FORWARD   dir SOUTH  loc 4735,-3523  DistToNext 0.000000
    Speed 5, FLAG 1
     time 34.56   tot 179.78
  End Path <===
* ==> Start Path
   [ 0]     qtv    move PORT_TURN   dir NORTH_EAST  loc 2224,274  DistToNext 50.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir NORTH_EAST  loc 2259,239  DistToNext 0.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
   [ 2]     qtv    move STBD_TURN   dir EAST  loc 2259,239  DistToNext 50.000000
    Speed 0, FLAG 1
     time  0.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move PORT_TURN   dir NORTH  loc 2427,-695  DistToNext 50.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir NORTH  loc 2462,-730  DistToNext 0.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
   [ 2]     qtv    move STBD_TURN   dir NORTH_EAST  loc 2462,-730  DistToNext 50.000000
    Speed 0, FLAG 1
     time  0.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir SOUTH_WEST  loc 3506,-2041  DistToNext 98.994949
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir SOUTH_WEST  loc 3436,-2111  DistToNext 0.000000
    Speed 1, FLAG 1
     time 178.19   tot 178.19
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir NORTH  loc 3036,-2468  DistToNext 0.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move STBD_TURN   dir NORTH_EAST  loc 3036,-2468  DistToNext 69.296463
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move FORWARD   dir NORTH_EAST  loc 3085,-2419  DistToNext 0.000000
    Speed 1, FLAG 1
     time 124.73   tot 124.73
   [ 3]     qtv    move STBD_TURN   dir EAST  loc 3085,-2419  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot 124.73
   [ 4]     qtv    move FORWARD   dir EAST  loc 3145,-2419  DistToNext 51.000000
    Speed 2, FLAG 1
     time 54.00   tot 178.73
   [ 5]     qtv    move FORWARD   dir EAST  loc 3094,-2419  DistToNext 0.000000
    Speed 2, FLAG 2
     time 45.90   tot 224.63
  End Path <===
* ==> Start Path
   [ 0]     qtv    move PORT_TURN   dir NORTH_EAST  loc 4491,-893  DistToNext 69.296463
    Speed 4, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir NORTH_EAST  loc 4540,-844  DistToNext 0.000000
    Speed 4, FLAG 1
     time 31.18   tot 31.18
   [ 2]     qtv    move STBD_TURN   dir EAST  loc 4540,-844  DistToNext 70.000000
    Speed 0, FLAG 1
     time  0.00   tot 31.18
   [ 3]     qtv    move FORWARD   dir EAST  loc 4610,-844  DistToNext 0.000000
    Speed 6, FLAG 1
     time 21.00   tot 52.18
   [ 4]     qtv    move STBD_TURN   dir SOUTH_EAST  loc 4610,-844  DistToNext 350.724976
    Speed 0, FLAG 1
     time  0.00   tot 52.18
   [ 5]     qtv    move FORWARD   dir SOUTH_EAST  loc 4858,-1092  DistToNext 0.000000
    Speed 5, FLAG 1
     time 126.26   tot 178.44
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir EAST  loc 3837,-198  DistToNext 0.000000
    Speed 2, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move STBD_TURN   dir SOUTH_EAST  loc 3837,-198  DistToNext 98.994949
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move FORWARD   dir SOUTH_EAST  loc 3907,-268  DistToNext 0.000000
    Speed 1, FLAG 1
     time 178.19   tot 178.19
  End Path <===
* ==> Start Path
   [ 0]     qtv    move PORT_TURN   dir NORTH_EAST  loc 2372,-771  DistToNext 50.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir NORTH_EAST  loc 2407,-806  DistToNext 0.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
   [ 2]     qtv    move STBD_TURN   dir EAST  loc 2407,-806  DistToNext 50.000000
    Speed 0, FLAG 1
     time  0.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir NORTH  loc 4362,989  DistToNext 100.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir NORTH  loc 4362,1089  DistToNext 0.000000
    Speed 1, FLAG 1
     time 180.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir NORTH  loc 3829,2308  DistToNext 100.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir NORTH  loc 3829,2408  DistToNext 0.000000
    Speed 1, FLAG 1
     time 180.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir NORTH_EAST  loc 2734,-1057  DistToNext 0.000000
    Speed 4, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move STBD_TURN   dir EAST  loc 2734,-1057  DistToNext 120.000000
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move FORWARD   dir EAST  loc 2854,-1057  DistToNext 0.000000
    Speed 6, FLAG 1
     time 36.00   tot 36.00
   [ 3]     qtv    move PORT_TURN   dir NORTH_EAST  loc 2854,-1057  DistToNext 60.811184
    Speed 0, FLAG 1
     time  0.00   tot 36.00
   [ 4]     qtv    move FORWARD   dir NORTH_EAST  loc 2897,-1014  DistToNext 0.000000
    Speed 4, FLAG 1
     time 27.36   tot 63.36
   [ 5]     qtv    move PORT_TURN   dir NORTH  loc 2897,-1014  DistToNext 60.000000
    Speed 4, FLAG 1
     time  0.00   tot 63.36
   [ 6]     qtv    move FORWARD   dir NORTH  loc 2897,-954  DistToNext 0.000000
    Speed 2, FLAG 1
     time 54.00   tot 117.36
   [ 7]     qtv    move PORT_TURN   dir NORTH_WEST  loc 2897,-954  DistToNext 0.000000
    Speed 2, FLAG 1
     time  0.00   tot 117.36
   [ 8]     qtv    move PORT_TURN   dir WEST  loc 2897,-954  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot 117.36
   [ 9]     qtv    move FORWARD   dir WEST  loc 2837,-954  DistToNext 0.000000
    Speed 2, FLAG 1
     time 54.00   tot 171.36
   [10]     qtv    move STBD_TURN   dir NORTH_WEST  loc 2837,-954  DistToNext 2.398605
    Speed 2, FLAG 1
     time  0.00   tot 171.36
   [11]     qtv    move FORWARD   dir NORTH_WEST  loc 2838,-955  DistToNext 0.000000
    Speed -1, FLAG 1
     time  8.63   tot 180.00
   [12]     qtv    move PORT_TURN   dir WEST  loc 2838,-955  DistToNext 2.398605
    Speed 0, FLAG 1
     time  0.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir NORTH  loc 3501,2109  DistToNext 100.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir NORTH  loc 3501,2209  DistToNext 0.000000
    Speed 1, FLAG 1
     time 180.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir NORTH  loc 4529,611  DistToNext 100.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir NORTH  loc 4529,711  DistToNext 0.000000
    Speed 1, FLAG 1
     time 180.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir NORTH  loc 3852,1432  DistToNext 100.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir NORTH  loc 3852,1532  DistToNext 0.000000
    Speed 1, FLAG 1
     time 180.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move PORT_TURN   dir NORTH  loc 4023,-60  DistToNext 100.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir NORTH  loc 4023,40  DistToNext 0.000000
    Speed 1, FLAG 1
     time 180.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move PORT_TURN   dir NORTH_EAST  loc 1378,52  DistToNext 50.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir NORTH_EAST  loc 1413,17  DistToNext 0.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
   [ 2]     qtv    move STBD_TURN   dir EAST  loc 1413,17  DistToNext 50.000000
    Speed 0, FLAG 1
     time  0.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move PORT_TURN   dir SOUTH  loc 2175,231  DistToNext 50.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir SOUTH  loc 2210,196  DistToNext 0.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
   [ 2]     qtv    move STBD_TURN   dir SOUTH_WEST  loc 2210,196  DistToNext 50.000000
    Speed 0, FLAG 1
     time  0.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir SOUTH  loc 4811,-3393  DistToNext 0.000000
    Speed 5, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move STBD_TURN   dir SOUTH_WEST  loc 4811,-3393  DistToNext 60.811184
    Speed 5, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move FORWARD   dir SOUTH_WEST  loc 4768,-3436  DistToNext 0.000000
    Speed 3, FLAG 1
     time 36.49   tot 36.49
   [ 3]     qtv    move STBD_TURN   dir WEST  loc 4768,-3436  DistToNext 60.000000
    Speed 3, FLAG 1
     time  0.00   tot 36.49
   [ 4]     qtv    move FORWARD   dir WEST  loc 4708,-3436  DistToNext 0.000000
    Speed 2, FLAG 1
     time 54.00   tot 90.49
   [ 5]     qtv    move STBD_TURN   dir NORTH_WEST  loc 4708,-3436  DistToNext 0.000000
    Speed 2, FLAG 1
     time  0.00   tot 90.49
   [ 6]     qtv    move STBD_TURN   dir NORTH  loc 4708,-3436  DistToNext 99.000000
    Speed 0, FLAG 1
     time  0.00   tot 90.49
   [ 7]     qtv    move FORWARD   dir NORTH  loc 4708,-3337  DistToNext 19.000000
    Speed 2, FLAG 1
     time 89.10   tot 179.59
   [ 8]     qtv    move FORWARD   dir NORTH  loc 4708,-3356  DistToNext 0.000000
    Speed 2, FLAG 2
     time 17.10   tot 196.69
  End Path <===
* ==> Start Path
   [ 0]     qtv    move STBD_TURN   dir EAST  loc 2563,-447  DistToNext 50.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir EAST  loc 2598,-482  DistToNext 0.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
   [ 2]     qtv    move STBD_TURN   dir SOUTH_EAST  loc 2598,-482  DistToNext 50.000000
    Speed 0, FLAG 1
     time  0.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move PORT_TURN   dir SOUTH  loc 2594,-289  DistToNext 50.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir SOUTH  loc 2629,-324  DistToNext 0.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
   [ 2]     qtv    move PORT_TURN   dir SOUTH_EAST  loc 2629,-324  DistToNext 50.000000
    Speed 0, FLAG 1
     time  0.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move PORT_TURN   dir NORTH_EAST  loc 2440,-876  DistToNext 50.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir NORTH_EAST  loc 2475,-911  DistToNext 0.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
   [ 2]     qtv    move PORT_TURN   dir NORTH  loc 2475,-911  DistToNext 50.000000
    Speed 0, FLAG 1
     time  0.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir SOUTH  loc 2138,-255  DistToNext 50.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir SOUTH  loc 2173,-290  DistToNext 0.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
   [ 2]     qtv    move PORT_TURN   dir SOUTH_EAST  loc 2173,-290  DistToNext 50.000000
    Speed 0, FLAG 1
     time  0.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move STBD_TURN   dir SOUTH  loc 2915,-2157  DistToNext 50.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir SOUTH  loc 2950,-2192  DistToNext 0.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
   [ 2]     qtv    move STBD_TURN   dir SOUTH_WEST  loc 2950,-2192  DistToNext 50.000000
    Speed 0, FLAG 1
     time  0.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir NORTH_WEST  loc 4723,-3331  DistToNext 50.000000
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir NORTH_WEST  loc 4758,-3366  DistToNext 50.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move STBD_TURN   dir EAST  loc 2259,239  DistToNext 50.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir EAST  loc 2294,204  DistToNext 0.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
   [ 2]     qtv    move STBD_TURN   dir SOUTH_EAST  loc 2294,204  DistToNext 50.000000
    Speed 0, FLAG 1
     time  0.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move STBD_TURN   dir NORTH_EAST  loc 2462,-730  DistToNext 50.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir NORTH_EAST  loc 2497,-765  DistToNext 0.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
   [ 2]     qtv    move STBD_TURN   dir EAST  loc 2497,-765  DistToNext 50.000000
    Speed 0, FLAG 1
     time  0.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir SOUTH_WEST  loc 3436,-2111  DistToNext 98.994949
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir SOUTH_WEST  loc 3366,-2181  DistToNext 0.000000
    Speed 1, FLAG 1
     time 178.19   tot 178.19
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir EAST  loc 3145,-2419  DistToNext 0.000000
    Speed 2, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move STBD_TURN   dir SOUTH_EAST  loc 3145,-2419  DistToNext 69.296463
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move FORWARD   dir SOUTH_EAST  loc 3194,-2468  DistToNext 0.000000
    Speed 1, FLAG 1
     time 124.73   tot 124.73
   [ 3]     qtv    move STBD_TURN   dir SOUTH  loc 3194,-2468  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot 124.73
   [ 4]     qtv    move FORWARD   dir SOUTH  loc 3194,-2528  DistToNext 51.000000
    Speed 2, FLAG 1
     time 54.00   tot 178.73
   [ 5]     qtv    move FORWARD   dir SOUTH  loc 3194,-2477  DistToNext 0.000000
    Speed 2, FLAG 2
     time 45.90   tot 224.63
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir SOUTH_EAST  loc 4858,-1092  DistToNext 0.000000
    Speed 5, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move STBD_TURN   dir SOUTH  loc 4858,-1092  DistToNext 140.000000
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move FORWARD   dir SOUTH  loc 4858,-1232  DistToNext 0.000000
    Speed 6, FLAG 1
     time 42.00   tot 42.00
   [ 3]     qtv    move STBD_TURN   dir SOUTH_WEST  loc 4858,-1232  DistToNext 70.710678
    Speed 0, FLAG 1
     time  0.00   tot 42.00
   [ 4]     qtv    move FORWARD   dir SOUTH_WEST  loc 4808,-1282  DistToNext 0.000000
    Speed 4, FLAG 1
     time 31.82   tot 73.82
   [ 5]     qtv    move STBD_TURN   dir WEST  loc 4808,-1282  DistToNext 70.000000
    Speed 4, FLAG 1
     time  0.00   tot 73.82
   [ 6]     qtv    move FORWARD   dir WEST  loc 4738,-1282  DistToNext 0.000000
    Speed 2, FLAG 1
     time 63.00   tot 136.82
   [ 7]     qtv    move STBD_TURN   dir NORTH_WEST  loc 4738,-1282  DistToNext 0.000000
    Speed 2, FLAG 1
     time  0.00   tot 136.82
   [ 8]     qtv    move STBD_TURN   dir NORTH  loc 4738,-1282  DistToNext 70.000000
    Speed 0, FLAG 1
     time  0.00   tot 136.82
   [ 9]     qtv    move FORWARD   dir NORTH  loc 4738,-1212  DistToNext 0.000000
    Speed 2, FLAG 1
     time 63.00   tot 199.82
   [10]     qtv    move STBD_TURN   dir NORTH_EAST  loc 4738,-1212  DistToNext 138.592926
    Speed 2, FLAG 1
     time  0.00   tot 199.82
   [11]     qtv    move FORWARD   dir NORTH_EAST  loc 4836,-1114  DistToNext 0.000000
    Speed 4, FLAG 1
     time 62.37   tot 262.18
   [12]     qtv    move PORT_TURN   dir NORTH  loc 4836,-1114  DistToNext 70.000000
    Speed 0, FLAG 1
     time  0.00   tot 262.18
   [13]     qtv    move FORWARD   dir NORTH  loc 4836,-1044  DistToNext 0.000000
    Speed 2, FLAG 1
     time 63.00   tot 325.18
   [14]     qtv    move PORT_TURN   dir NORTH_WEST  loc 4836,-1044  DistToNext 70.710678
    Speed 2, FLAG 1
     time  0.00   tot 325.18
   [15]     qtv    move FORWARD   dir NORTH_WEST  loc 4786,-994  DistToNext 0.000000
    Speed 2, FLAG 1
     time 63.64   tot 388.82
   [16]     qtv    move PORT_TURN   dir WEST  loc 4786,-994  DistToNext 0.000000
    Speed 2, FLAG 1
     time  0.00   tot 388.82
   [17]     qtv    move PORT_TURN   dir SOUTH_WEST  loc 4786,-994  DistToNext 70.710678
    Speed 0, FLAG 1
     time  0.00   tot 388.82
   [18]     qtv    move FORWARD   dir SOUTH_WEST  loc 4736,-1044  DistToNext 0.000000
    Speed 4, FLAG 1
     time 31.82   tot 420.64
   [19]     qtv    move STBD_TURN   dir WEST  loc 4736,-1044  DistToNext 83.000000
    Speed 4, FLAG 1
     time  0.00   tot 420.64
   [20]     qtv    move FORWARD   dir WEST  loc 4653,-1044  DistToNext 0.000000
    Speed 2, FLAG 1
     time 74.70   tot 495.34
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir SOUTH_EAST  loc 3907,-268  DistToNext 0.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move PORT_TURN   dir EAST  loc 3907,-268  DistToNext 140.000000
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move FORWARD   dir EAST  loc 4047,-268  DistToNext 0.000000
    Speed 2, FLAG 1
     time 126.00   tot 126.00
   [ 3]     qtv    move PORT_TURN   dir NORTH_EAST  loc 4047,-268  DistToNext 70.710678
    Speed 0, FLAG 1
     time  0.00   tot 126.00
   [ 4]     qtv    move FORWARD   dir NORTH_EAST  loc 4097,-218  DistToNext 0.000000
    Speed 1, FLAG 1
     time 127.28   tot 253.28
   [ 5]     qtv    move PORT_TURN   dir NORTH  loc 4097,-218  DistToNext 70.000000
    Speed 1, FLAG 1
     time  0.00   tot 253.28
   [ 6]     qtv    move FORWARD   dir NORTH  loc 4097,-148  DistToNext 0.000000
    Speed 1, FLAG 1
     time 126.00   tot 379.28
   [ 7]     qtv    move PORT_TURN   dir NORTH_WEST  loc 4097,-148  DistToNext 0.000000
    Speed 1, FLAG 1
     time  0.00   tot 379.28
   [ 8]     qtv    move PORT_TURN   dir WEST  loc 4097,-148  DistToNext 70.000000
    Speed 0, FLAG 1
     time  0.00   tot 379.28
   [ 9]     qtv    move FORWARD   dir WEST  loc 4027,-148  DistToNext 0.000000
    Speed 1, FLAG 1
     time 126.00   tot 505.28
   [10]     qtv    move STBD_TURN   dir NORTH_WEST  loc 4027,-148  DistToNext -90.355339
    Speed 1, FLAG 1
     time  0.00   tot 505.28
   [11]     qtv    move FORWARD   dir NORTH_WEST  loc 4090,-211  DistToNext 0.000000
    Speed -1, FLAG 1
     time -325.28   tot 180.00
   [12]     qtv    move STBD_TURN   dir NORTH  loc 4090,-211  DistToNext -90.355339
    Speed 0, FLAG 1
     time  0.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move STBD_TURN   dir EAST  loc 2407,-806  DistToNext 50.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir EAST  loc 2442,-841  DistToNext 0.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
   [ 2]     qtv    move STBD_TURN   dir SOUTH_EAST  loc 2442,-841  DistToNext 50.000000
    Speed 0, FLAG 1
     time  0.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir NORTH  loc 4362,1089  DistToNext 100.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir NORTH  loc 4362,1189  DistToNext 0.000000
    Speed 1, FLAG 1
     time 180.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir NORTH  loc 3829,2408  DistToNext 100.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir NORTH  loc 3829,2508  DistToNext 0.000000
    Speed 1, FLAG 1
     time 180.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move PORT_TURN   dir WEST  loc 2838,-955  DistToNext 60.000000
    Speed 2, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir WEST  loc 2778,-955  DistToNext 0.000000
    Speed 2, FLAG 1
     time 54.00   tot 54.00
   [ 2]     qtv    move PORT_TURN   dir SOUTH_WEST  loc 2778,-955  DistToNext 59.396969
    Speed 0, FLAG 1
     time  0.00   tot 54.00
   [ 3]     qtv    move FORWARD   dir SOUTH_WEST  loc 2736,-997  DistToNext 0.000000
    Speed 4, FLAG 1
     time 26.73   tot 80.73
   [ 4]     qtv    move PORT_TURN   dir SOUTH  loc 2736,-997  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot 80.73
   [ 5]     qtv    move FORWARD   dir SOUTH  loc 2736,-1057  DistToNext 0.000000
    Speed 6, FLAG 1
     time 18.00   tot 98.73
   [ 6]     qtv    move PORT_TURN   dir SOUTH_EAST  loc 2736,-1057  DistToNext 59.396969
    Speed 0, FLAG 1
     time  0.00   tot 98.73
   [ 7]     qtv    move FORWARD   dir SOUTH_EAST  loc 2778,-1099  DistToNext 0.000000
    Speed 5, FLAG 1
     time 21.38   tot 120.11
   [ 8]     qtv    move PORT_TURN   dir EAST  loc 2778,-1099  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot 120.11
   [ 9]     qtv    move FORWARD   dir EAST  loc 2838,-1099  DistToNext 0.000000
    Speed 6, FLAG 1
     time 18.00   tot 138.11
   [10]     qtv    move PORT_TURN   dir NORTH_EAST  loc 2838,-1099  DistToNext 91.923882
    Speed 0, FLAG 1
     time  0.00   tot 138.11
   [11]     qtv    move FORWARD   dir NORTH_EAST  loc 2903,-1034  DistToNext 0.000000
    Speed 4, FLAG 1
     time 41.37   tot 179.48
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir NORTH  loc 3501,2209  DistToNext 100.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir NORTH  loc 3501,2309  DistToNext 0.000000
    Speed 1, FLAG 1
     time 180.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir NORTH  loc 4529,711  DistToNext 100.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir NORTH  loc 4529,811  DistToNext 0.000000
    Speed 1, FLAG 1
     time 180.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir NORTH  loc 3852,1532  DistToNext 100.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir NORTH  loc 3852,1632  DistToNext 0.000000
    Speed 1, FLAG 1
     time 180.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir NORTH  loc 4023,40  DistToNext 100.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir NORTH  loc 4023,140  DistToNext 0.000000
    Speed 1, FLAG 1
     time 180.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move STBD_TURN   dir EAST  loc 1413,17  DistToNext 50.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir EAST  loc 1448,-18  DistToNext 0.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
   [ 2]     qtv    move PORT_TURN   dir NORTH_EAST  loc 1448,-18  DistToNext 50.000000
    Speed 0, FLAG 1
     time  0.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move STBD_TURN   dir SOUTH_WEST  loc 2210,196  DistToNext 50.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir SOUTH_WEST  loc 2245,161  DistToNext 0.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
   [ 2]     qtv    move STBD_TURN   dir WEST  loc 2245,161  DistToNext 50.000000
    Speed 0, FLAG 1
     time  0.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir NORTH  loc 4708,-3337  DistToNext 0.000000
    Speed 2, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move STBD_TURN   dir NORTH_EAST  loc 4708,-3337  DistToNext 59.396969
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move FORWARD   dir NORTH_EAST  loc 4750,-3295  DistToNext 0.000000
    Speed 3, FLAG 1
     time 35.64   tot 35.64
   [ 3]     qtv    move STBD_TURN   dir EAST  loc 4750,-3295  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot 35.64
   [ 4]     qtv    move FORWARD   dir EAST  loc 4810,-3295  DistToNext 0.000000
    Speed 5, FLAG 1
     time 21.60   tot 57.24
   [ 5]     qtv    move STBD_TURN   dir SOUTH_EAST  loc 4810,-3295  DistToNext 59.396969
    Speed 0, FLAG 1
     time  0.00   tot 57.24
   [ 6]     qtv    move FORWARD   dir SOUTH_EAST  loc 4852,-3337  DistToNext 0.000000
    Speed 4, FLAG 1
     time 26.73   tot 83.97
   [ 7]     qtv    move STBD_TURN   dir SOUTH  loc 4852,-3337  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot 83.97
   [ 8]     qtv    move FORWARD   dir SOUTH  loc 4852,-3397  DistToNext 0.000000
    Speed 5, FLAG 1
     time 21.60   tot 105.57
   [ 9]     qtv    move STBD_TURN   dir SOUTH_WEST  loc 4852,-3397  DistToNext 59.396969
    Speed 0, FLAG 1
     time  0.00   tot 105.57
   [10]     qtv    move FORWARD   dir SOUTH_WEST  loc 4810,-3439  DistToNext 0.000000
    Speed 3, FLAG 1
     time 35.64   tot 141.20
   [11]     qtv    move STBD_TURN   dir WEST  loc 4810,-3439  DistToNext 42.000000
    Speed 0, FLAG 1
     time  0.00   tot 141.20
   [12]     qtv    move FORWARD   dir WEST  loc 4768,-3439  DistToNext 25.000000
    Speed 2, FLAG 1
     time 37.80   tot 179.00
   [13]     qtv    move FORWARD   dir WEST  loc 4793,-3439  DistToNext 0.000000
    Speed 2, FLAG 2
     time 22.50   tot 201.50
  End Path <===
* ==> Start Path
   [ 0]     qtv    move STBD_TURN   dir SOUTH_EAST  loc 2598,-482  DistToNext 50.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir SOUTH_EAST  loc 2633,-517  DistToNext 0.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
   [ 2]     qtv    move PORT_TURN   dir EAST  loc 2633,-517  DistToNext 50.000000
    Speed 0, FLAG 1
     time  0.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move PORT_TURN   dir SOUTH_EAST  loc 2629,-324  DistToNext 50.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir SOUTH_EAST  loc 2664,-359  DistToNext 0.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
   [ 2]     qtv    move STBD_TURN   dir SOUTH  loc 2664,-359  DistToNext 50.000000
    Speed 0, FLAG 1
     time  0.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move PORT_TURN   dir NORTH  loc 2475,-911  DistToNext 50.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir NORTH  loc 2510,-946  DistToNext 50.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move PORT_TURN   dir SOUTH_EAST  loc 2173,-290  DistToNext 50.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir SOUTH_EAST  loc 2208,-325  DistToNext 0.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
   [ 2]     qtv    move PORT_TURN   dir EAST  loc 2208,-325  DistToNext 50.000000
    Speed 0, FLAG 1
     time  0.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move STBD_TURN   dir SOUTH_WEST  loc 2950,-2192  DistToNext 50.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir SOUTH_WEST  loc 2985,-2227  DistToNext 0.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
   [ 2]     qtv    move PORT_TURN   dir SOUTH  loc 2985,-2227  DistToNext 50.000000
    Speed 0, FLAG 1
     time  0.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir NORTH_WEST  loc 4758,-3366  DistToNext 50.000000
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir NORTH_WEST  loc 4793,-3401  DistToNext 0.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
   [ 2]     qtv    move STBD_TURN   dir NORTH  loc 4793,-3401  DistToNext 50.000000
    Speed 0, FLAG 1
     time  0.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move STBD_TURN   dir SOUTH_EAST  loc 2294,204  DistToNext 50.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir SOUTH_EAST  loc 2329,169  DistToNext 50.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move STBD_TURN   dir EAST  loc 2497,-765  DistToNext 50.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir EAST  loc 2532,-800  DistToNext 0.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
   [ 2]     qtv    move PORT_TURN   dir NORTH_EAST  loc 2532,-800  DistToNext 50.000000
    Speed 0, FLAG 1
     time  0.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir SOUTH_WEST  loc 3366,-2181  DistToNext 98.994949
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir SOUTH_WEST  loc 3296,-2251  DistToNext 0.000000
    Speed 1, FLAG 1
     time 178.19   tot 178.19
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir SOUTH  loc 3194,-2528  DistToNext 0.000000
    Speed 2, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move PORT_TURN   dir SOUTH_EAST  loc 3194,-2528  DistToNext 69.296463
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move FORWARD   dir SOUTH_EAST  loc 3243,-2577  DistToNext 0.000000
    Speed 1, FLAG 1
     time 124.73   tot 124.73
   [ 3]     qtv    move PORT_TURN   dir EAST  loc 3243,-2577  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot 124.73
   [ 4]     qtv    move FORWARD   dir EAST  loc 3303,-2577  DistToNext 51.000000
    Speed 2, FLAG 1
     time 54.00   tot 178.73
   [ 5]     qtv    move FORWARD   dir EAST  loc 3252,-2577  DistToNext 0.000000
    Speed 2, FLAG 2
     time 45.90   tot 224.63
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir NORTH  loc 4653,-1044  DistToNext 200.000000
    Speed 2, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir NORTH  loc 4653,-844  DistToNext 0.000000
    Speed 2, FLAG 1
     time 180.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move STBD_TURN   dir NORTH_EAST  loc 4090,-211  DistToNext 69.296463
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir NORTH_EAST  loc 4139,-162  DistToNext 0.000000
    Speed 1, FLAG 1
     time 124.73   tot 124.73
   [ 2]     qtv    move STBD_TURN   dir EAST  loc 4139,-162  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot 124.73
   [ 3]     qtv    move FORWARD   dir EAST  loc 4199,-162  DistToNext 51.000000
    Speed 2, FLAG 1
     time 54.00   tot 178.73
   [ 4]     qtv    move FORWARD   dir EAST  loc 4148,-162  DistToNext 0.000000
    Speed 2, FLAG 2
     time 45.90   tot 224.63
  End Path <===
* ==> Start Path
   [ 0]     qtv    move STBD_TURN   dir SOUTH_EAST  loc 2442,-841  DistToNext 50.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir SOUTH_EAST  loc 2477,-876  DistToNext 0.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
   [ 2]     qtv    move PORT_TURN   dir EAST  loc 2477,-876  DistToNext 50.000000
    Speed 0, FLAG 1
     time  0.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir NORTH  loc 4362,1189  DistToNext 100.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir NORTH  loc 4362,1289  DistToNext 0.000000
    Speed 1, FLAG 1
     time 180.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir NORTH  loc 3829,2508  DistToNext 100.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir NORTH  loc 3829,2608  DistToNext 0.000000
    Speed 1, FLAG 1
     time 180.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir NORTH_EAST  loc 2903,-1034  DistToNext 0.000000
    Speed 4, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move STBD_TURN   dir EAST  loc 2903,-1034  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move FORWARD   dir EAST  loc 2963,-1034  DistToNext 0.000000
    Speed 6, FLAG 1
     time 18.00   tot 18.00
   [ 3]     qtv    move STBD_TURN   dir SOUTH_EAST  loc 2963,-1034  DistToNext 449.719910
    Speed 0, FLAG 1
     time  0.00   tot 18.00
   [ 4]     qtv    move FORWARD   dir SOUTH_EAST  loc 3281,-1352  DistToNext 0.000000
    Speed 5, FLAG 1
     time 161.90   tot 179.90
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir NORTH  loc 3501,2309  DistToNext 100.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir NORTH  loc 3501,2409  DistToNext 0.000000
    Speed 1, FLAG 1
     time 180.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir NORTH  loc 4529,811  DistToNext 100.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir NORTH  loc 4529,911  DistToNext 0.000000
    Speed 1, FLAG 1
     time 180.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir NORTH  loc 3852,1632  DistToNext 100.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir NORTH  loc 3852,1732  DistToNext 0.000000
    Speed 1, FLAG 1
     time 180.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir NORTH  loc 4023,140  DistToNext 100.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir NORTH  loc 4023,240  DistToNext 0.000000
    Speed 1, FLAG 1
     time 180.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move PORT_TURN   dir NORTH_EAST  loc 1448,-18  DistToNext 50.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir NORTH_EAST  loc 1483,-53  DistToNext 0.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
   [ 2]     qtv    move PORT_TURN   dir NORTH  loc 1483,-53  DistToNext 50.000000
    Speed 0, FLAG 1
     time  0.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move STBD_TURN   dir WEST  loc 2245,161  DistToNext 50.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir WEST  loc 2280,126  DistToNext 50.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir WEST  loc 4768,-3439  DistToNext 0.000000
    Speed 2, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move PORT_TURN   dir SOUTH_WEST  loc 4768,-3439  DistToNext 59.396969
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move FORWARD   dir SOUTH_WEST  loc 4726,-3481  DistToNext 0.000000
    Speed 3, FLAG 1
     time 35.64   tot 35.64
   [ 3]     qtv    move PORT_TURN   dir SOUTH  loc 4726,-3481  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot 35.64
   [ 4]     qtv    move FORWARD   dir SOUTH  loc 4726,-3541  DistToNext 0.000000
    Speed 5, FLAG 1
     time 21.60   tot 57.24
   [ 5]     qtv    move PORT_TURN   dir SOUTH_EAST  loc 4726,-3541  DistToNext 59.396969
    Speed 0, FLAG 1
     time  0.00   tot 57.24
   [ 6]     qtv    move FORWARD   dir SOUTH_EAST  loc 4768,-3583  DistToNext 0.000000
    Speed 4, FLAG 1
     time 26.73   tot 83.97
   [ 7]     qtv    move PORT_TURN   dir EAST  loc 4768,-3583  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot 83.97
   [ 8]     qtv    move FORWARD   dir EAST  loc 4828,-3583  DistToNext 0.000000
    Speed 5, FLAG 1
     time 21.60   tot 105.57
   [ 9]     qtv    move PORT_TURN   dir NORTH_EAST  loc 4828,-3583  DistToNext 59.396969
    Speed 0, FLAG 1
     time  0.00   tot 105.57
   [10]     qtv    move FORWARD   dir NORTH_EAST  loc 4870,-3541  DistToNext 0.000000
    Speed 3, FLAG 1
     time 35.64   tot 141.20
   [11]     qtv    move PORT_TURN   dir NORTH  loc 4870,-3541  DistToNext 42.000000
    Speed 0, FLAG 1
     time  0.00   tot 141.20
   [12]     qtv    move FORWARD   dir NORTH  loc 4870,-3499  DistToNext 25.000000
    Speed 2, FLAG 1
     time 37.80   tot 179.00
   [13]     qtv    move FORWARD   dir NORTH  loc 4870,-3524  DistToNext 0.000000
    Speed 2, FLAG 2
     time 22.50   tot 201.50
  End Path <===
* ==> Start Path
   [ 0]     qtv    move PORT_TURN   dir EAST  loc 2633,-517  DistToNext 50.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir EAST  loc 2668,-552  DistToNext 0.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
   [ 2]     qtv    move PORT_TURN   dir NORTH_EAST  loc 2668,-552  DistToNext 50.000000
    Speed 0, FLAG 1
     time  0.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move STBD_TURN   dir SOUTH  loc 2664,-359  DistToNext 50.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir SOUTH  loc 2699,-394  DistToNext 0.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
   [ 2]     qtv    move PORT_TURN   dir SOUTH_EAST  loc 2699,-394  DistToNext 50.000000
    Speed 0, FLAG 1
     time  0.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir NORTH  loc 2510,-946  DistToNext 50.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir NORTH  loc 2545,-981  DistToNext 50.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move PORT_TURN   dir EAST  loc 2208,-325  DistToNext 50.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir EAST  loc 2243,-360  DistToNext 0.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
   [ 2]     qtv    move PORT_TURN   dir NORTH_EAST  loc 2243,-360  DistToNext 50.000000
    Speed 0, FLAG 1
     time  0.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move PORT_TURN   dir SOUTH  loc 2985,-2227  DistToNext 50.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir SOUTH  loc 3020,-2262  DistToNext 0.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
   [ 2]     qtv    move STBD_TURN   dir SOUTH_WEST  loc 3020,-2262  DistToNext 50.000000
    Speed 0, FLAG 1
     time  0.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move STBD_TURN   dir NORTH  loc 4793,-3401  DistToNext 200.000000
    Speed 2, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move BACK_SAIL   dir NORTH  loc 4793,-3201  DistToNext 0.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move FORWARD   dir NORTH  loc 4793,-3201  DistToNext 0.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 3]     qtv    move NO_DIRECTION   dir NORTH  loc 4793,-3201  DistToNext 0.000000
    Speed 0, FLAG 1
     time  0.00   tot  0.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir SOUTH_EAST  loc 2329,169  DistToNext 50.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir SOUTH_EAST  loc 2364,134  DistToNext 0.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
   [ 2]     qtv    move PORT_TURN   dir EAST  loc 2364,134  DistToNext 50.000000
    Speed 0, FLAG 1
     time  0.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move PORT_TURN   dir NORTH_EAST  loc 2532,-800  DistToNext 50.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir NORTH_EAST  loc 2567,-835  DistToNext 0.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
   [ 2]     qtv    move PORT_TURN   dir NORTH  loc 2567,-835  DistToNext 50.000000
    Speed 0, FLAG 1
     time  0.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir SOUTH_WEST  loc 3296,-2251  DistToNext 50.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir SOUTH_WEST  loc 3331,-2286  DistToNext 0.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
   [ 2]     qtv    move STBD_TURN   dir WEST  loc 3331,-2286  DistToNext 50.000000
    Speed 0, FLAG 1
     time  0.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir EAST  loc 3303,-2577  DistToNext 0.000000
    Speed 2, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move PORT_TURN   dir NORTH_EAST  loc 3303,-2577  DistToNext 98.994949
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move FORWARD   dir NORTH_EAST  loc 3373,-2507  DistToNext 0.000000
    Speed 1, FLAG 1
     time 178.19   tot 178.19
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir NORTH  loc 4653,-844  DistToNext 200.000000
    Speed 2, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir NORTH  loc 4653,-644  DistToNext 0.000000
    Speed 2, FLAG 1
     time 180.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move STBD_TURN   dir EAST  loc 4199,-162  DistToNext 70.000000
    Speed 2, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir EAST  loc 4269,-162  DistToNext 0.000000
    Speed 2, FLAG 1
     time 63.00   tot 63.00
   [ 2]     qtv    move STBD_TURN   dir SOUTH_EAST  loc 4269,-162  DistToNext 63.639610
    Speed 0, FLAG 1
     time  0.00   tot 63.00
   [ 3]     qtv    move FORWARD   dir SOUTH_EAST  loc 4314,-207  DistToNext 59.396969
    Speed 1, FLAG 1
     time 114.55   tot 177.55
   [ 4]     qtv    move FORWARD   dir SOUTH_EAST  loc 4272,-165  DistToNext 0.000000
    Speed 1, FLAG 2
     time 106.91   tot 284.46
  End Path <===
* ==> Start Path
   [ 0]     qtv    move PORT_TURN   dir EAST  loc 2477,-876  DistToNext 50.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir EAST  loc 2512,-911  DistToNext 0.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
   [ 2]     qtv    move PORT_TURN   dir NORTH_EAST  loc 2512,-911  DistToNext 50.000000
    Speed 0, FLAG 1
     time  0.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir NORTH  loc 4362,1289  DistToNext 100.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir NORTH  loc 4362,1389  DistToNext 0.000000
    Speed 1, FLAG 1
     time 180.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir NORTH  loc 3829,2608  DistToNext 100.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir NORTH  loc 3829,2708  DistToNext 0.000000
    Speed 1, FLAG 1
     time 180.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir SOUTH_EAST  loc 3281,-1352  DistToNext 499.217377
    Speed 5, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir SOUTH_EAST  loc 3634,-1705  DistToNext 0.000000
    Speed 5, FLAG 1
     time 179.72   tot 179.72
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir NORTH  loc 3501,2409  DistToNext 100.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir NORTH  loc 3501,2509  DistToNext 0.000000
    Speed 1, FLAG 1
     time 180.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir NORTH  loc 4529,911  DistToNext 100.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir NORTH  loc 4529,1011  DistToNext 0.000000
    Speed 1, FLAG 1
     time 180.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir NORTH  loc 3852,1732  DistToNext 100.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir NORTH  loc 3852,1832  DistToNext 0.000000
    Speed 1, FLAG 1
     time 180.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir NORTH  loc 4023,240  DistToNext 100.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir NORTH  loc 4023,340  DistToNext 0.000000
    Speed 1, FLAG 1
     time 180.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move PORT_TURN   dir NORTH  loc 1483,-53  DistToNext 50.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir NORTH  loc 1518,-88  DistToNext 0.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
   [ 2]     qtv    move STBD_TURN   dir NORTH_EAST  loc 1518,-88  DistToNext 50.000000
    Speed 0, FLAG 1
     time  0.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir WEST  loc 2280,126  DistToNext 50.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir WEST  loc 2315,91  DistToNext 50.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir SOUTH_WEST  loc 4802,-3473  DistToNext 0.000000
    Speed 3, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move PORT_TURN   dir SOUTH  loc 4802,-3473  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move FORWARD   dir SOUTH  loc 4802,-3533  DistToNext 0.000000
    Speed 5, FLAG 1
     time 21.60   tot 21.60
   [ 3]     qtv    move STBD_TURN   dir SOUTH_WEST  loc 4802,-3533  DistToNext 60.811184
    Speed 0, FLAG 1
     time  0.00   tot 21.60
   [ 4]     qtv    move FORWARD   dir SOUTH_WEST  loc 4759,-3576  DistToNext 0.000000
    Speed 3, FLAG 1
     time 36.49   tot 58.09
   [ 5]     qtv    move STBD_TURN   dir WEST  loc 4759,-3576  DistToNext 60.000000
    Speed 3, FLAG 1
     time  0.00   tot 58.09
   [ 6]     qtv    move FORWARD   dir WEST  loc 4699,-3576  DistToNext 0.000000
    Speed 2, FLAG 1
     time 54.00   tot 112.09
   [ 7]     qtv    move STBD_TURN   dir NORTH_WEST  loc 4699,-3576  DistToNext 0.000000
    Speed 2, FLAG 1
     time  0.00   tot 112.09
   [ 8]     qtv    move STBD_TURN   dir NORTH  loc 4699,-3576  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot 112.09
   [ 9]     qtv    move FORWARD   dir NORTH  loc 4699,-3516  DistToNext 0.000000
    Speed 2, FLAG 1
     time 54.00   tot 166.09
   [10]     qtv    move STBD_TURN   dir NORTH_EAST  loc 4699,-3516  DistToNext 59.396969
    Speed 2, FLAG 1
     time  0.00   tot 166.09
   [11]     qtv    move FORWARD   dir NORTH_EAST  loc 4741,-3474  DistToNext 0.000000
    Speed 3, FLAG 1
     time 35.64   tot 201.72
   [12]     qtv    move PORT_TURN   dir NORTH  loc 4741,-3474  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot 201.72
   [13]     qtv    move FORWARD   dir NORTH  loc 4741,-3414  DistToNext 0.000000
    Speed 2, FLAG 1
     time 54.00   tot 255.72
   [14]     qtv    move PORT_TURN   dir NORTH_WEST  loc 4741,-3414  DistToNext 60.811184
    Speed 2, FLAG 1
     time  0.00   tot 255.72
   [15]     qtv    move FORWARD   dir NORTH_WEST  loc 4698,-3371  DistToNext 0.000000
    Speed 2, FLAG 1
     time 54.73   tot 310.45
   [16]     qtv    move PORT_TURN   dir WEST  loc 4698,-3371  DistToNext 0.000000
    Speed 2, FLAG 1
     time  0.00   tot 310.45
   [17]     qtv    move PORT_TURN   dir SOUTH_WEST  loc 4698,-3371  DistToNext 60.811184
    Speed 0, FLAG 1
     time  0.00   tot 310.45
   [18]     qtv    move FORWARD   dir SOUTH_WEST  loc 4655,-3414  DistToNext 0.000000
    Speed 3, FLAG 1
     time 36.49   tot 346.94
   [19]     qtv    move STBD_TURN   dir WEST  loc 4655,-3414  DistToNext 60.000000
    Speed 3, FLAG 1
     time  0.00   tot 346.94
   [20]     qtv    move FORWARD   dir WEST  loc 4595,-3414  DistToNext 0.000000
    Speed 2, FLAG 1
     time 54.00   tot 400.94
   [21]     qtv    move STBD_TURN   dir NORTH_WEST  loc 4595,-3414  DistToNext 60.811184
    Speed 0, FLAG 1
     time  0.00   tot 400.94
   [22]     qtv    move FORWARD   dir NORTH_WEST  loc 4552,-3371  DistToNext 0.000000
    Speed 0, FLAG 1
     time   inf   tot   inf
   [23]     qtv    move STBD_TURN   dir NORTH  loc 4552,-3371  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot   inf
   [24]     qtv    move FORWARD   dir NORTH  loc 4552,-3311  DistToNext 0.000000
    Speed 2, FLAG 1
     time 54.00   tot   inf
   [25]     qtv    move STBD_TURN   dir NORTH_EAST  loc 4552,-3311  DistToNext 0.000000
    Speed 2, FLAG 1
     time  0.00   tot   inf
   [26]     qtv    move STBD_TURN   dir EAST  loc 4552,-3311  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot   inf
   [27]     qtv    move FORWARD   dir EAST  loc 4612,-3311  DistToNext 0.000000
    Speed 5, FLAG 1
     time 21.60   tot   inf
   [28]     qtv    move STBD_TURN   dir SOUTH_EAST  loc 4612,-3311  DistToNext 59.396969
    Speed 5, FLAG 1
     time  0.00   tot   inf
   [29]     qtv    move FORWARD   dir SOUTH_EAST  loc 4654,-3353  DistToNext 0.000000
    Speed 4, FLAG 1
     time 26.73   tot   inf
   [30]     qtv    move STBD_TURN   dir SOUTH  loc 4654,-3353  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot   inf
   [31]     qtv    move FORWARD   dir SOUTH  loc 4654,-3413  DistToNext 0.000000
    Speed 5, FLAG 1
     time 21.60   tot   inf
   [32]     qtv    move STBD_TURN   dir SOUTH_WEST  loc 4654,-3413  DistToNext 60.811184
    Speed 5, FLAG 1
     time  0.00   tot   inf
   [33]     qtv    move FORWARD   dir SOUTH_WEST  loc 4611,-3456  DistToNext 0.000000
    Speed 3, FLAG 1
     time 36.49   tot   inf
   [34]     qtv    move STBD_TURN   dir WEST  loc 4611,-3456  DistToNext 0.000000
    Speed 3, FLAG 1
     time  0.00   tot   inf
   [35]     qtv    move STBD_TURN   dir NORTH_WEST  loc 4611,-3456  DistToNext 60.811184
    Speed 0, FLAG 1
     time  0.00   tot   inf
   [36]     qtv    move FORWARD   dir NORTH_WEST  loc 4568,-3413  DistToNext 0.000000
    Speed 3, FLAG 1
     time 36.49   tot   inf
   [37]     qtv    move STBD_TURN   dir NORTH  loc 4568,-3413  DistToNext 46.000000
    Speed 3, FLAG 1
     time  0.00   tot   inf
   [38]     qtv    move FORWARD   dir NORTH  loc 4568,-3367  DistToNext 33.000000
    Speed 2, FLAG 1
     time 41.40   tot   inf
   [39]     qtv    move FORWARD   dir NORTH  loc 4568,-3400  DistToNext 0.000000
    Speed 2, FLAG 2
     time 29.70   tot   inf
  End Path <===
* ==> Start Path
   [ 0]     qtv    move PORT_TURN   dir NORTH_EAST  loc 2668,-552  DistToNext 50.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir NORTH_EAST  loc 2703,-587  DistToNext 0.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
   [ 2]     qtv    move PORT_TURN   dir NORTH  loc 2703,-587  DistToNext 50.000000
    Speed 0, FLAG 1
     time  0.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move PORT_TURN   dir SOUTH_EAST  loc 2699,-394  DistToNext 50.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir SOUTH_EAST  loc 2734,-429  DistToNext 0.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
   [ 2]     qtv    move PORT_TURN   dir EAST  loc 2734,-429  DistToNext 50.000000
    Speed 0, FLAG 1
     time  0.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir NORTH  loc 2545,-981  DistToNext 50.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir NORTH  loc 2580,-1016  DistToNext 0.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
   [ 2]     qtv    move STBD_TURN   dir NORTH_EAST  loc 2580,-1016  DistToNext 50.000000
    Speed 0, FLAG 1
     time  0.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move PORT_TURN   dir NORTH_EAST  loc 2243,-360  DistToNext 50.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir NORTH_EAST  loc 2278,-395  DistToNext 0.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
   [ 2]     qtv    move STBD_TURN   dir EAST  loc 2278,-395  DistToNext 50.000000
    Speed 0, FLAG 1
     time  0.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move STBD_TURN   dir SOUTH_WEST  loc 3020,-2262  DistToNext 50.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir SOUTH_WEST  loc 3055,-2297  DistToNext 0.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
   [ 2]     qtv    move PORT_TURN   dir SOUTH  loc 3055,-2297  DistToNext 50.000000
    Speed 0, FLAG 1
     time  0.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir NORTH  loc 4737,-3343  DistToNext 0.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move BACK_SAIL   dir NORTH_EAST  loc 4737,-3343  DistToNext 59.396969
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move STBD_TURN   dir NORTH_EAST  loc 4737,-3343  DistToNext 59.396969
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 3]     qtv    move FORWARD   dir NORTH_EAST  loc 4779,-3301  DistToNext 0.000000
    Speed 1, FLAG 1
     time 106.91   tot 106.91
   [ 4]     qtv    move STBD_TURN   dir EAST  loc 4779,-3301  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot 106.91
   [ 5]     qtv    move FORWARD   dir EAST  loc 4839,-3301  DistToNext 0.000000
    Speed 3, FLAG 1
     time 36.00   tot 142.91
   [ 6]     qtv    move STBD_TURN   dir SOUTH_EAST  loc 4839,-3301  DistToNext 26.870058
    Speed 0, FLAG 1
     time  0.00   tot 142.91
   [ 7]     qtv    move FORWARD   dir SOUTH_EAST  loc 4858,-3320  DistToNext 5.656854
    Speed 3, FLAG 1
     time 16.12   tot 159.04
   [ 8]     qtv    move FORWARD   dir SOUTH_EAST  loc 4862,-3324  DistToNext 0.000000
    Speed 3, FLAG 2
     time  3.39   tot 162.43
   [ 9]     qtv    move NO_DIRECTION   dir SOUTH_EAST  loc 4862,-3324  DistToNext 59.396969
    Speed 0, FLAG 1
     time  0.00   tot 162.43
  End Path <===
* ==> Start Path
   [ 0]     qtv    move PORT_TURN   dir EAST  loc 2364,134  DistToNext 50.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir EAST  loc 2399,99  DistToNext 0.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
   [ 2]     qtv    move STBD_TURN   dir SOUTH_EAST  loc 2399,99  DistToNext 50.000000
    Speed 0, FLAG 1
     time  0.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move PORT_TURN   dir NORTH  loc 2567,-835  DistToNext 50.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir NORTH  loc 2602,-870  DistToNext 0.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
   [ 2]     qtv    move STBD_TURN   dir NORTH_EAST  loc 2602,-870  DistToNext 50.000000
    Speed 0, FLAG 1
     time  0.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move STBD_TURN   dir WEST  loc 3331,-2286  DistToNext 50.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir WEST  loc 3366,-2321  DistToNext 50.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir NORTH_EAST  loc 3373,-2507  DistToNext 0.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move STBD_TURN   dir EAST  loc 3373,-2507  DistToNext 140.000000
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move FORWARD   dir EAST  loc 3513,-2507  DistToNext 0.000000
    Speed 2, FLAG 1
     time 126.00   tot 126.00
   [ 3]     qtv    move STBD_TURN   dir SOUTH_EAST  loc 3513,-2507  DistToNext 29.698484
    Speed 0, FLAG 1
     time  0.00   tot 126.00
   [ 4]     qtv    move FORWARD   dir SOUTH_EAST  loc 3534,-2528  DistToNext 9.899495
    Speed 1, FLAG 1
     time 53.46   tot 179.46
   [ 5]     qtv    move FORWARD   dir SOUTH_EAST  loc 3541,-2535  DistToNext 0.000000
    Speed 1, FLAG 2
     time 17.82   tot 197.27
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir NORTH  loc 4653,-644  DistToNext 200.000000
    Speed 2, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir NORTH  loc 4653,-444  DistToNext 0.000000
    Speed 2, FLAG 1
     time 180.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move STBD_TURN   dir SOUTH_EAST  loc 4314,-207  DistToNext 69.296463
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir SOUTH_EAST  loc 4363,-256  DistToNext 0.000000
    Speed 1, FLAG 1
     time 124.73   tot 124.73
   [ 2]     qtv    move STBD_TURN   dir SOUTH  loc 4363,-256  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot 124.73
   [ 3]     qtv    move FORWARD   dir SOUTH  loc 4363,-316  DistToNext 51.000000
    Speed 2, FLAG 1
     time 54.00   tot 178.73
   [ 4]     qtv    move FORWARD   dir SOUTH  loc 4363,-265  DistToNext 0.000000
    Speed 2, FLAG 2
     time 45.90   tot 224.63
  End Path <===
* ==> Start Path
   [ 0]     qtv    move PORT_TURN   dir NORTH_EAST  loc 2512,-911  DistToNext 50.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir NORTH_EAST  loc 2547,-946  DistToNext 0.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
   [ 2]     qtv    move PORT_TURN   dir NORTH  loc 2547,-946  DistToNext 50.000000
    Speed 0, FLAG 1
     time  0.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir NORTH  loc 4362,1389  DistToNext 100.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir NORTH  loc 4362,1489  DistToNext 0.000000
    Speed 1, FLAG 1
     time 180.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir NORTH  loc 3829,2708  DistToNext 100.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir NORTH  loc 3829,2808  DistToNext 0.000000
    Speed 1, FLAG 1
     time 180.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir SOUTH_EAST  loc 3634,-1705  DistToNext 0.000000
    Speed 5, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move PORT_TURN   dir EAST  loc 3634,-1705  DistToNext 120.000000
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move FORWARD   dir EAST  loc 3754,-1705  DistToNext 0.000000
    Speed 6, FLAG 1
     time 36.00   tot 36.00
   [ 3]     qtv    move PORT_TURN   dir NORTH_EAST  loc 3754,-1705  DistToNext 60.811184
    Speed 0, FLAG 1
     time  0.00   tot 36.00
   [ 4]     qtv    move FORWARD   dir NORTH_EAST  loc 3797,-1662  DistToNext 0.000000
    Speed 4, FLAG 1
     time 27.36   tot 63.36
   [ 5]     qtv    move PORT_TURN   dir NORTH  loc 3797,-1662  DistToNext 60.000000
    Speed 4, FLAG 1
     time  0.00   tot 63.36
   [ 6]     qtv    move FORWARD   dir NORTH  loc 3797,-1602  DistToNext 0.000000
    Speed 2, FLAG 1
     time 54.00   tot 117.36
   [ 7]     qtv    move PORT_TURN   dir NORTH_WEST  loc 3797,-1602  DistToNext 0.000000
    Speed 2, FLAG 1
     time  0.00   tot 117.36
   [ 8]     qtv    move PORT_TURN   dir WEST  loc 3797,-1602  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot 117.36
   [ 9]     qtv    move FORWARD   dir WEST  loc 3737,-1602  DistToNext 0.000000
    Speed 2, FLAG 1
     time 54.00   tot 171.36
   [10]     qtv    move STBD_TURN   dir NORTH_WEST  loc 3737,-1602  DistToNext 2.398605
    Speed 2, FLAG 1
     time  0.00   tot 171.36
   [11]     qtv    move FORWARD   dir NORTH_WEST  loc 3738,-1603  DistToNext 0.000000
    Speed -1, FLAG 1
     time  8.63   tot 180.00
   [12]     qtv    move STBD_TURN   dir NORTH  loc 3738,-1603  DistToNext 2.398605
    Speed 0, FLAG 1
     time  0.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir NORTH  loc 3501,2509  DistToNext 100.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir NORTH  loc 3501,2609  DistToNext 0.000000
    Speed 1, FLAG 1
     time 180.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir NORTH  loc 4529,1011  DistToNext 100.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir NORTH  loc 4529,1111  DistToNext 0.000000
    Speed 1, FLAG 1
     time 180.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir NORTH  loc 3852,1832  DistToNext 100.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir NORTH  loc 3852,1932  DistToNext 0.000000
    Speed 1, FLAG 1
     time 180.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir NORTH  loc 4023,340  DistToNext 100.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir NORTH  loc 4023,440  DistToNext 0.000000
    Speed 1, FLAG 1
     time 180.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move STBD_TURN   dir NORTH_EAST  loc 1518,-88  DistToNext 50.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir NORTH_EAST  loc 1553,-123  DistToNext 0.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
   [ 2]     qtv    move STBD_TURN   dir EAST  loc 1553,-123  DistToNext 50.000000
    Speed 0, FLAG 1
     time  0.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir WEST  loc 2315,91  DistToNext 50.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir WEST  loc 2350,56  DistToNext 50.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir NORTH_EAST  loc 4568,-3367  DistToNext 0.000000
    Speed 3, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move STBD_TURN   dir EAST  loc 4568,-3367  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move FORWARD   dir EAST  loc 4628,-3367  DistToNext 0.000000
    Speed 5, FLAG 1
     time 21.60   tot 21.60
   [ 3]     qtv    move STBD_TURN   dir SOUTH_EAST  loc 4628,-3367  DistToNext 59.396969
    Speed 0, FLAG 1
     time  0.00   tot 21.60
   [ 4]     qtv    move FORWARD   dir SOUTH_EAST  loc 4670,-3409  DistToNext 0.000000
    Speed 4, FLAG 1
     time 26.73   tot 48.33
   [ 5]     qtv    move STBD_TURN   dir SOUTH  loc 4670,-3409  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot 48.33
   [ 6]     qtv    move FORWARD   dir SOUTH  loc 4670,-3469  DistToNext 0.000000
    Speed 5, FLAG 1
     time 21.60   tot 69.93
   [ 7]     qtv    move STBD_TURN   dir SOUTH_WEST  loc 4670,-3469  DistToNext 60.811184
    Speed 0, FLAG 1
     time  0.00   tot 69.93
   [ 8]     qtv    move FORWARD   dir SOUTH_WEST  loc 4627,-3512  DistToNext 0.000000
    Speed 3, FLAG 1
     time 36.49   tot 106.41
   [ 9]     qtv    move STBD_TURN   dir WEST  loc 4627,-3512  DistToNext 60.000000
    Speed 3, FLAG 1
     time  0.00   tot 106.41
   [10]     qtv    move FORWARD   dir WEST  loc 4567,-3512  DistToNext 0.000000
    Speed 2, FLAG 1
     time 54.00   tot 160.41
   [11]     qtv    move STBD_TURN   dir NORTH_WEST  loc 4567,-3512  DistToNext 0.000000
    Speed 2, FLAG 1
     time  0.00   tot 160.41
   [12]     qtv    move STBD_TURN   dir NORTH  loc 4567,-3512  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot 160.41
   [13]     qtv    move FORWARD   dir NORTH  loc 4567,-3452  DistToNext 0.000000
    Speed 2, FLAG 1
     time 54.00   tot 214.41
   [14]     qtv    move STBD_TURN   dir NORTH_EAST  loc 4567,-3452  DistToNext 59.396969
    Speed 2, FLAG 1
     time  0.00   tot 214.41
   [15]     qtv    move FORWARD   dir NORTH_EAST  loc 4609,-3410  DistToNext 0.000000
    Speed 3, FLAG 1
     time 35.64   tot 250.05
   [16]     qtv    move PORT_TURN   dir NORTH  loc 4609,-3410  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot 250.05
   [17]     qtv    move FORWARD   dir NORTH  loc 4609,-3350  DistToNext 0.000000
    Speed 2, FLAG 1
     time 54.00   tot 304.05
   [18]     qtv    move PORT_TURN   dir NORTH_WEST  loc 4609,-3350  DistToNext 60.811184
    Speed 2, FLAG 1
     time  0.00   tot 304.05
   [19]     qtv    move FORWARD   dir NORTH_WEST  loc 4566,-3307  DistToNext 0.000000
    Speed 2, FLAG 1
     time 54.73   tot 358.78
   [20]     qtv    move PORT_TURN   dir WEST  loc 4566,-3307  DistToNext 0.000000
    Speed 2, FLAG 1
     time  0.00   tot 358.78
   [21]     qtv    move PORT_TURN   dir SOUTH_WEST  loc 4566,-3307  DistToNext 60.811184
    Speed 0, FLAG 1
     time  0.00   tot 358.78
   [22]     qtv    move FORWARD   dir SOUTH_WEST  loc 4523,-3350  DistToNext 0.000000
    Speed 3, FLAG 1
     time 36.49   tot 395.27
   [23]     qtv    move STBD_TURN   dir WEST  loc 4523,-3350  DistToNext 60.000000
    Speed 3, FLAG 1
     time  0.00   tot 395.27
   [24]     qtv    move FORWARD   dir WEST  loc 4463,-3350  DistToNext 0.000000
    Speed 2, FLAG 1
     time 54.00   tot 449.27
   [25]     qtv    move STBD_TURN   dir NORTH_WEST  loc 4463,-3350  DistToNext 60.811184
    Speed 0, FLAG 1
     time  0.00   tot 449.27
   [26]     qtv    move FORWARD   dir NORTH_WEST  loc 4420,-3307  DistToNext 0.000000
    Speed 0, FLAG 1
     time   inf   tot   inf
   [27]     qtv    move STBD_TURN   dir NORTH  loc 4420,-3307  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot   inf
   [28]     qtv    move FORWARD   dir NORTH  loc 4420,-3247  DistToNext 0.000000
    Speed 2, FLAG 1
     time 54.00   tot   inf
   [29]     qtv    move STBD_TURN   dir NORTH_EAST  loc 4420,-3247  DistToNext 0.000000
    Speed 2, FLAG 1
     time  0.00   tot   inf
   [30]     qtv    move STBD_TURN   dir EAST  loc 4420,-3247  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot   inf
   [31]     qtv    move FORWARD   dir EAST  loc 4480,-3247  DistToNext 0.000000
    Speed 5, FLAG 1
     time 21.60   tot   inf
   [32]     qtv    move STBD_TURN   dir SOUTH_EAST  loc 4480,-3247  DistToNext 43.840622
    Speed 5, FLAG 1
     time  0.00   tot   inf
   [33]     qtv    move FORWARD   dir SOUTH_EAST  loc 4511,-3278  DistToNext 28.284271
    Speed 4, FLAG 1
     time 19.73   tot   inf
   [34]     qtv    move FORWARD   dir SOUTH_EAST  loc 4491,-3258  DistToNext 0.000000
    Speed 4, FLAG 2
     time 12.73   tot   inf
  End Path <===
* ==> Start Path
   [ 0]     qtv    move PORT_TURN   dir NORTH  loc 2703,-587  DistToNext 50.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir NORTH  loc 2738,-622  DistToNext 0.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
   [ 2]     qtv    move STBD_TURN   dir NORTH_EAST  loc 2738,-622  DistToNext 50.000000
    Speed 0, FLAG 1
     time  0.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move PORT_TURN   dir EAST  loc 2734,-429  DistToNext 50.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir EAST  loc 2769,-464  DistToNext 0.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
   [ 2]     qtv    move STBD_TURN   dir SOUTH_EAST  loc 2769,-464  DistToNext 50.000000
    Speed 0, FLAG 1
     time  0.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move STBD_TURN   dir NORTH_EAST  loc 2580,-1016  DistToNext 50.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir NORTH_EAST  loc 2615,-1051  DistToNext 0.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
   [ 2]     qtv    move STBD_TURN   dir EAST  loc 2615,-1051  DistToNext 50.000000
    Speed 0, FLAG 1
     time  0.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move STBD_TURN   dir EAST  loc 2278,-395  DistToNext 50.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir EAST  loc 2313,-430  DistToNext 0.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
   [ 2]     qtv    move PORT_TURN   dir NORTH_EAST  loc 2313,-430  DistToNext 50.000000
    Speed 0, FLAG 1
     time  0.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move PORT_TURN   dir SOUTH  loc 3055,-2297  DistToNext 50.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir SOUTH  loc 3090,-2332  DistToNext 0.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
   [ 2]     qtv    move PORT_TURN   dir SOUTH_EAST  loc 3090,-2332  DistToNext 50.000000
    Speed 0, FLAG 1
     time  0.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir SOUTH_EAST  loc 4858,-3320  DistToNext 0.000000
    Speed 2, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move PORT_TURN   dir EAST  loc 4858,-3320  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move FORWARD   dir EAST  loc 4918,-3320  DistToNext 0.000000
    Speed 3, FLAG 1
     time 36.00   tot 36.00
   [ 3]     qtv    move PORT_TURN   dir NORTH_EAST  loc 4918,-3320  DistToNext 59.396969
    Speed 0, FLAG 1
     time  0.00   tot 36.00
   [ 4]     qtv    move FORWARD   dir NORTH_EAST  loc 4960,-3278  DistToNext 0.000000
    Speed 1, FLAG 1
     time 106.91   tot 142.91
   [ 5]     qtv    move PORT_TURN   dir NORTH  loc 4960,-3278  DistToNext 20.000000
    Speed 0, FLAG 1
     time  0.00   tot 142.91
   [ 6]     qtv    move FORWARD   dir NORTH  loc 4960,-3258  DistToNext 19.000000
    Speed 1, FLAG 1
     time 36.00   tot 178.91
   [ 7]     qtv    move FORWARD   dir NORTH  loc 4960,-3239  DistToNext 0.000000
    Speed 1, FLAG 2
     time 34.20   tot 213.11
  End Path <===
* ==> Start Path
   [ 0]     qtv    move STBD_TURN   dir SOUTH_EAST  loc 2399,99  DistToNext 50.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir SOUTH_EAST  loc 2434,64  DistToNext 0.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
   [ 2]     qtv    move STBD_TURN   dir SOUTH  loc 2434,64  DistToNext 50.000000
    Speed 0, FLAG 1
     time  0.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move STBD_TURN   dir NORTH_EAST  loc 2602,-870  DistToNext 50.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir NORTH_EAST  loc 2637,-905  DistToNext 0.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
   [ 2]     qtv    move PORT_TURN   dir NORTH  loc 2637,-905  DistToNext 50.000000
    Speed 0, FLAG 1
     time  0.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir WEST  loc 3366,-2321  DistToNext 50.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir WEST  loc 3401,-2356  DistToNext 0.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
   [ 2]     qtv    move PORT_TURN   dir SOUTH_WEST  loc 3401,-2356  DistToNext 50.000000
    Speed 0, FLAG 1
     time  0.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir SOUTH_EAST  loc 3534,-2528  DistToNext 98.994949
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir SOUTH_EAST  loc 3604,-2598  DistToNext 0.000000
    Speed 1, FLAG 1
     time 178.19   tot 178.19
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir NORTH  loc 4653,-444  DistToNext 200.000000
    Speed 2, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir NORTH  loc 4653,-244  DistToNext 0.000000
    Speed 2, FLAG 1
     time 180.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move STBD_TURN   dir SOUTH  loc 4363,-316  DistToNext 200.000000
    Speed 2, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir SOUTH  loc 4363,-516  DistToNext 0.000000
    Speed 2, FLAG 1
     time 180.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move PORT_TURN   dir NORTH  loc 2547,-946  DistToNext 50.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir NORTH  loc 2582,-981  DistToNext 50.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir NORTH  loc 4362,1489  DistToNext 100.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir NORTH  loc 4362,1589  DistToNext 0.000000
    Speed 1, FLAG 1
     time 180.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir NORTH  loc 3829,2808  DistToNext 100.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir NORTH  loc 3829,2908  DistToNext 0.000000
    Speed 1, FLAG 1
     time 180.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move STBD_TURN   dir NORTH  loc 3738,-1603  DistToNext 60.000000
    Speed 2, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir NORTH  loc 3738,-1543  DistToNext 0.000000
    Speed 2, FLAG 1
     time 54.00   tot 54.00
   [ 2]     qtv    move STBD_TURN   dir NORTH_EAST  loc 3738,-1543  DistToNext 59.396969
    Speed 0, FLAG 1
     time  0.00   tot 54.00
   [ 3]     qtv    move FORWARD   dir NORTH_EAST  loc 3780,-1501  DistToNext 0.000000
    Speed 4, FLAG 1
     time 26.73   tot 80.73
   [ 4]     qtv    move STBD_TURN   dir EAST  loc 3780,-1501  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot 80.73
   [ 5]     qtv    move FORWARD   dir EAST  loc 3840,-1501  DistToNext 0.000000
    Speed 6, FLAG 1
     time 18.00   tot 98.73
   [ 6]     qtv    move STBD_TURN   dir SOUTH_EAST  loc 3840,-1501  DistToNext 224.859955
    Speed 0, FLAG 1
     time  0.00   tot 98.73
   [ 7]     qtv    move FORWARD   dir SOUTH_EAST  loc 3999,-1660  DistToNext 0.000000
    Speed 5, FLAG 1
     time 80.95   tot 179.68
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir NORTH  loc 3501,2609  DistToNext 100.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir NORTH  loc 3501,2709  DistToNext 0.000000
    Speed 1, FLAG 1
     time 180.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir NORTH  loc 4529,1111  DistToNext 100.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir NORTH  loc 4529,1211  DistToNext 0.000000
    Speed 1, FLAG 1
     time 180.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir NORTH  loc 3852,1932  DistToNext 100.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir NORTH  loc 3852,2032  DistToNext 0.000000
    Speed 1, FLAG 1
     time 180.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir NORTH  loc 4023,440  DistToNext 100.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir NORTH  loc 4023,540  DistToNext 0.000000
    Speed 1, FLAG 1
     time 180.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move STBD_TURN   dir EAST  loc 1553,-123  DistToNext 50.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir EAST  loc 1588,-158  DistToNext 0.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
   [ 2]     qtv    move STBD_TURN   dir SOUTH_EAST  loc 1588,-158  DistToNext 50.000000
    Speed 0, FLAG 1
     time  0.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir WEST  loc 2350,56  DistToNext 50.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir WEST  loc 2385,21  DistToNext 0.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
   [ 2]     qtv    move PORT_TURN   dir SOUTH_WEST  loc 2385,21  DistToNext 50.000000
    Speed 0, FLAG 1
     time  0.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir SOUTH_EAST  loc 4511,-3278  DistToNext 0.000000
    Speed 4, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move PORT_TURN   dir EAST  loc 4511,-3278  DistToNext 60.000000
    Speed 4, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move FORWARD   dir EAST  loc 4571,-3278  DistToNext 0.000000
    Speed 5, FLAG 1
     time 21.60   tot 21.60
   [ 3]     qtv    move PORT_TURN   dir NORTH_EAST  loc 4571,-3278  DistToNext 60.811184
    Speed 5, FLAG 1
     time  0.00   tot 21.60
   [ 4]     qtv    move FORWARD   dir NORTH_EAST  loc 4614,-3235  DistToNext 0.000000
    Speed 3, FLAG 1
     time 36.49   tot 58.09
   [ 5]     qtv    move PORT_TURN   dir NORTH  loc 4614,-3235  DistToNext 0.000000
    Speed 3, FLAG 1
     time  0.00   tot 58.09
   [ 6]     qtv    move PORT_TURN   dir NORTH_WEST  loc 4614,-3235  DistToNext 60.811184
    Speed 0, FLAG 1
     time  0.00   tot 58.09
   [ 7]     qtv    move FORWARD   dir NORTH_WEST  loc 4571,-3192  DistToNext 0.000000
    Speed 3, FLAG 1
     time 36.49   tot 94.57
   [ 8]     qtv    move PORT_TURN   dir WEST  loc 4571,-3192  DistToNext 94.000000
    Speed 3, FLAG 1
     time  0.00   tot 94.57
   [ 9]     qtv    move FORWARD   dir WEST  loc 4477,-3192  DistToNext 0.000000
    Speed 2, FLAG 1
     time 84.60   tot 179.17
  End Path <===
* ==> Start Path
   [ 0]     qtv    move STBD_TURN   dir NORTH_EAST  loc 2738,-622  DistToNext 50.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir NORTH_EAST  loc 2773,-657  DistToNext 0.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
   [ 2]     qtv    move PORT_TURN   dir NORTH  loc 2773,-657  DistToNext 50.000000
    Speed 0, FLAG 1
     time  0.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move STBD_TURN   dir SOUTH_EAST  loc 2769,-464  DistToNext 50.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir SOUTH_EAST  loc 2804,-499  DistToNext 0.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
   [ 2]     qtv    move STBD_TURN   dir SOUTH  loc 2804,-499  DistToNext 50.000000
    Speed 0, FLAG 1
     time  0.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move STBD_TURN   dir EAST  loc 2615,-1051  DistToNext 50.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir EAST  loc 2650,-1086  DistToNext 0.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
   [ 2]     qtv    move PORT_TURN   dir NORTH_EAST  loc 2650,-1086  DistToNext 50.000000
    Speed 0, FLAG 1
     time  0.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move PORT_TURN   dir NORTH_EAST  loc 2313,-430  DistToNext 50.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir NORTH_EAST  loc 2348,-465  DistToNext 0.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
   [ 2]     qtv    move STBD_TURN   dir EAST  loc 2348,-465  DistToNext 50.000000
    Speed 0, FLAG 1
     time  0.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move PORT_TURN   dir SOUTH_EAST  loc 3090,-2332  DistToNext 50.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir SOUTH_EAST  loc 3125,-2367  DistToNext 0.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
   [ 2]     qtv    move STBD_TURN   dir SOUTH  loc 3125,-2367  DistToNext 50.000000
    Speed 0, FLAG 1
     time  0.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir NORTH  loc 4960,-3258  DistToNext 0.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move STBD_TURN   dir NORTH_EAST  loc 4960,-3258  DistToNext 59.396969
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move FORWARD   dir NORTH_EAST  loc 5002,-3216  DistToNext 0.000000
    Speed 1, FLAG 1
     time 106.91   tot 106.91
   [ 3]     qtv    move STBD_TURN   dir EAST  loc 5002,-3216  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot 106.91
   [ 4]     qtv    move FORWARD   dir EAST  loc 5062,-3216  DistToNext 0.000000
    Speed 3, FLAG 1
     time 36.00   tot 142.91
   [ 5]     qtv    move STBD_TURN   dir SOUTH_EAST  loc 5062,-3216  DistToNext 39.597980
    Speed 0, FLAG 1
     time  0.00   tot 142.91
   [ 6]     qtv    move FORWARD   dir SOUTH_EAST  loc 5090,-3244  DistToNext 19.798990
    Speed 2, FLAG 1
     time 35.64   tot 178.55
   [ 7]     qtv    move FORWARD   dir SOUTH_EAST  loc 5076,-3230  DistToNext 0.000000
    Speed 2, FLAG 2
     time 17.82   tot 196.37
  End Path <===
* ==> Start Path
   [ 0]     qtv    move STBD_TURN   dir SOUTH  loc 2434,64  DistToNext 50.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir SOUTH  loc 2469,29  DistToNext 0.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
   [ 2]     qtv    move STBD_TURN   dir SOUTH_WEST  loc 2469,29  DistToNext 50.000000
    Speed 0, FLAG 1
     time  0.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move PORT_TURN   dir NORTH  loc 2637,-905  DistToNext 50.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir NORTH  loc 2672,-940  DistToNext 0.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
   [ 2]     qtv    move STBD_TURN   dir NORTH_EAST  loc 2672,-940  DistToNext 50.000000
    Speed 0, FLAG 1
     time  0.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move PORT_TURN   dir SOUTH_WEST  loc 3401,-2356  DistToNext 50.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir SOUTH_WEST  loc 3436,-2391  DistToNext 0.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
   [ 2]     qtv    move PORT_TURN   dir SOUTH  loc 3436,-2391  DistToNext 50.000000
    Speed 0, FLAG 1
     time  0.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir SOUTH_EAST  loc 3604,-2598  DistToNext 0.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move PORT_TURN   dir EAST  loc 3604,-2598  DistToNext 70.000000
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move FORWARD   dir EAST  loc 3674,-2598  DistToNext 0.000000
    Speed 2, FLAG 1
     time 63.00   tot 63.00
   [ 3]     qtv    move PORT_TURN   dir NORTH_EAST  loc 3674,-2598  DistToNext 63.639610
    Speed 0, FLAG 1
     time  0.00   tot 63.00
   [ 4]     qtv    move FORWARD   dir NORTH_EAST  loc 3719,-2553  DistToNext 59.396969
    Speed 1, FLAG 1
     time 114.55   tot 177.55
   [ 5]     qtv    move FORWARD   dir NORTH_EAST  loc 3677,-2595  DistToNext 0.000000
    Speed 1, FLAG 2
     time 106.91   tot 284.46
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir NORTH  loc 4653,-244  DistToNext 200.000000
    Speed 2, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir NORTH  loc 4653,-44  DistToNext 0.000000
    Speed 2, FLAG 1
     time 180.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir SOUTH  loc 4363,-516  DistToNext 200.000000
    Speed 2, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir SOUTH  loc 4363,-716  DistToNext 0.000000
    Speed 2, FLAG 1
     time 180.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir NORTH  loc 2582,-981  DistToNext 50.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir NORTH  loc 2617,-1016  DistToNext 0.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
   [ 2]     qtv    move STBD_TURN   dir NORTH_EAST  loc 2617,-1016  DistToNext 50.000000
    Speed 0, FLAG 1
     time  0.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir NORTH  loc 4362,1589  DistToNext 100.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir NORTH  loc 4362,1689  DistToNext 0.000000
    Speed 1, FLAG 1
     time 180.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir NORTH  loc 3829,2908  DistToNext 100.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir NORTH  loc 3829,3008  DistToNext 0.000000
    Speed 1, FLAG 1
     time 180.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir SOUTH_EAST  loc 3999,-1660  DistToNext 0.000000
    Speed 5, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move PORT_TURN   dir EAST  loc 3999,-1660  DistToNext 120.000000
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move FORWARD   dir EAST  loc 4119,-1660  DistToNext 0.000000
    Speed 6, FLAG 1
     time 36.00   tot 36.00
   [ 3]     qtv    move PORT_TURN   dir NORTH_EAST  loc 4119,-1660  DistToNext 60.811184
    Speed 0, FLAG 1
     time  0.00   tot 36.00
   [ 4]     qtv    move FORWARD   dir NORTH_EAST  loc 4162,-1617  DistToNext 0.000000
    Speed 4, FLAG 1
     time 27.36   tot 63.36
   [ 5]     qtv    move PORT_TURN   dir NORTH  loc 4162,-1617  DistToNext 60.000000
    Speed 4, FLAG 1
     time  0.00   tot 63.36
   [ 6]     qtv    move FORWARD   dir NORTH  loc 4162,-1557  DistToNext 0.000000
    Speed 2, FLAG 1
     time 54.00   tot 117.36
   [ 7]     qtv    move PORT_TURN   dir NORTH_WEST  loc 4162,-1557  DistToNext 0.000000
    Speed 2, FLAG 1
     time  0.00   tot 117.36
   [ 8]     qtv    move PORT_TURN   dir WEST  loc 4162,-1557  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot 117.36
   [ 9]     qtv    move FORWARD   dir WEST  loc 4102,-1557  DistToNext 0.000000
    Speed 2, FLAG 1
     time 54.00   tot 171.36
   [10]     qtv    move STBD_TURN   dir NORTH_WEST  loc 4102,-1557  DistToNext 2.398605
    Speed 2, FLAG 1
     time  0.00   tot 171.36
   [11]     qtv    move FORWARD   dir NORTH_WEST  loc 4103,-1558  DistToNext 0.000000
    Speed -1, FLAG 1
     time  8.63   tot 180.00
   [12]     qtv    move PORT_TURN   dir WEST  loc 4103,-1558  DistToNext 2.398605
    Speed 0, FLAG 1
     time  0.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir NORTH  loc 3501,2709  DistToNext 100.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir NORTH  loc 3501,2809  DistToNext 0.000000
    Speed 1, FLAG 1
     time 180.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir NORTH  loc 4529,1211  DistToNext 100.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir NORTH  loc 4529,1311  DistToNext 0.000000
    Speed 1, FLAG 1
     time 180.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir NORTH  loc 3852,2032  DistToNext 100.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir NORTH  loc 3852,2132  DistToNext 0.000000
    Speed 1, FLAG 1
     time 180.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir NORTH  loc 4023,540  DistToNext 100.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir NORTH  loc 4023,640  DistToNext 0.000000
    Speed 1, FLAG 1
     time 180.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move STBD_TURN   dir SOUTH_EAST  loc 1588,-158  DistToNext 50.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir SOUTH_EAST  loc 1623,-193  DistToNext 0.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
   [ 2]     qtv    move STBD_TURN   dir SOUTH  loc 1623,-193  DistToNext 50.000000
    Speed 0, FLAG 1
     time  0.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move PORT_TURN   dir SOUTH_WEST  loc 2385,21  DistToNext 50.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir SOUTH_WEST  loc 2420,-14  DistToNext 0.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
   [ 2]     qtv    move PORT_TURN   dir SOUTH  loc 2420,-14  DistToNext 50.000000
    Speed 0, FLAG 1
     time  0.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir WEST  loc 4477,-3192  DistToNext 0.000000
    Speed 2, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move PORT_TURN   dir SOUTH_WEST  loc 4477,-3192  DistToNext 59.396969
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move FORWARD   dir SOUTH_WEST  loc 4435,-3234  DistToNext 0.000000
    Speed 3, FLAG 1
     time 35.64   tot 35.64
   [ 3]     qtv    move PORT_TURN   dir SOUTH  loc 4435,-3234  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot 35.64
   [ 4]     qtv    move FORWARD   dir SOUTH  loc 4435,-3294  DistToNext 0.000000
    Speed 5, FLAG 1
     time 21.60   tot 57.24
   [ 5]     qtv    move PORT_TURN   dir SOUTH_EAST  loc 4435,-3294  DistToNext 59.396969
    Speed 0, FLAG 1
     time  0.00   tot 57.24
   [ 6]     qtv    move FORWARD   dir SOUTH_EAST  loc 4477,-3336  DistToNext 0.000000
    Speed 4, FLAG 1
     time 26.73   tot 83.97
   [ 7]     qtv    move PORT_TURN   dir EAST  loc 4477,-3336  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot 83.97
   [ 8]     qtv    move FORWARD   dir EAST  loc 4537,-3336  DistToNext 0.000000
    Speed 5, FLAG 1
     time 21.60   tot 105.57
   [ 9]     qtv    move PORT_TURN   dir NORTH_EAST  loc 4537,-3336  DistToNext 59.396969
    Speed 0, FLAG 1
     time  0.00   tot 105.57
   [10]     qtv    move FORWARD   dir NORTH_EAST  loc 4579,-3294  DistToNext 0.000000
    Speed 3, FLAG 1
     time 35.64   tot 141.20
   [11]     qtv    move PORT_TURN   dir NORTH  loc 4579,-3294  DistToNext 42.000000
    Speed 0, FLAG 1
     time  0.00   tot 141.20
   [12]     qtv    move FORWARD   dir NORTH  loc 4579,-3252  DistToNext 25.000000
    Speed 2, FLAG 1
     time 37.80   tot 179.00
   [13]     qtv    move FORWARD   dir NORTH  loc 4579,-3277  DistToNext 0.000000
    Speed 2, FLAG 2
     time 22.50   tot 201.50
  End Path <===
* ==> Start Path
   [ 0]     qtv    move PORT_TURN   dir NORTH  loc 2773,-657  DistToNext 50.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir NORTH  loc 2808,-692  DistToNext 50.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move STBD_TURN   dir SOUTH  loc 2804,-499  DistToNext 50.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir SOUTH  loc 2839,-534  DistToNext 0.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
   [ 2]     qtv    move PORT_TURN   dir SOUTH_EAST  loc 2839,-534  DistToNext 50.000000
    Speed 0, FLAG 1
     time  0.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move PORT_TURN   dir NORTH_EAST  loc 2650,-1086  DistToNext 50.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir NORTH_EAST  loc 2685,-1121  DistToNext 50.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move STBD_TURN   dir EAST  loc 2348,-465  DistToNext 50.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir EAST  loc 2383,-500  DistToNext 0.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
   [ 2]     qtv    move STBD_TURN   dir SOUTH_EAST  loc 2383,-500  DistToNext 50.000000
    Speed 0, FLAG 1
     time  0.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move STBD_TURN   dir SOUTH  loc 3125,-2367  DistToNext 50.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir SOUTH  loc 3160,-2402  DistToNext 0.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
   [ 2]     qtv    move PORT_TURN   dir SOUTH_EAST  loc 3160,-2402  DistToNext 50.000000
    Speed 0, FLAG 1
     time  0.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir SOUTH_EAST  loc 5090,-3244  DistToNext 0.000000
    Speed 2, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move STBD_TURN   dir SOUTH  loc 5090,-3244  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move FORWARD   dir SOUTH  loc 5090,-3304  DistToNext 0.000000
    Speed 3, FLAG 1
     time 36.00   tot 36.00
   [ 3]     qtv    move STBD_TURN   dir SOUTH_WEST  loc 5090,-3304  DistToNext 60.811184
    Speed 0, FLAG 1
     time  0.00   tot 36.00
   [ 4]     qtv    move FORWARD   dir SOUTH_WEST  loc 5047,-3347  DistToNext 0.000000
    Speed 1, FLAG 1
     time 109.46   tot 145.46
   [ 5]     qtv    move STBD_TURN   dir WEST  loc 5047,-3347  DistToNext 60.000000
    Speed 1, FLAG 1
     time  0.00   tot 145.46
   [ 6]     qtv    move FORWARD   dir WEST  loc 4987,-3347  DistToNext 0.000000
    Speed 1, FLAG 1
     time 108.00   tot 253.46
   [ 7]     qtv    move STBD_TURN   dir NORTH_WEST  loc 4987,-3347  DistToNext 0.000000
    Speed 1, FLAG 1
     time  0.00   tot 253.46
   [ 8]     qtv    move STBD_TURN   dir NORTH  loc 4987,-3347  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot 253.46
   [ 9]     qtv    move FORWARD   dir NORTH  loc 4987,-3287  DistToNext 0.000000
    Speed 1, FLAG 1
     time 108.00   tot 361.46
   [10]     qtv    move STBD_TURN   dir NORTH_EAST  loc 4987,-3287  DistToNext 59.396969
    Speed 1, FLAG 1
     time  0.00   tot 361.46
   [11]     qtv    move FORWARD   dir NORTH_EAST  loc 5029,-3245  DistToNext 0.000000
    Speed 1, FLAG 1
     time 106.91   tot 468.37
   [12]     qtv    move PORT_TURN   dir NORTH  loc 5029,-3245  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot 468.37
   [13]     qtv    move FORWARD   dir NORTH  loc 5029,-3185  DistToNext 0.000000
    Speed 1, FLAG 1
     time 108.00   tot 576.37
   [14]     qtv    move PORT_TURN   dir NORTH_WEST  loc 5029,-3185  DistToNext 60.811184
    Speed 1, FLAG 1
     time  0.00   tot 576.37
   [15]     qtv    move FORWARD   dir NORTH_WEST  loc 4986,-3142  DistToNext 0.000000
    Speed 1, FLAG 1
     time 109.46   tot 685.83
   [16]     qtv    move PORT_TURN   dir WEST  loc 4986,-3142  DistToNext 0.000000
    Speed 1, FLAG 1
     time  0.00   tot 685.83
   [17]     qtv    move PORT_TURN   dir SOUTH_WEST  loc 4986,-3142  DistToNext 60.811184
    Speed 0, FLAG 1
     time  0.00   tot 685.83
   [18]     qtv    move FORWARD   dir SOUTH_WEST  loc 4943,-3185  DistToNext 0.000000
    Speed 1, FLAG 1
     time 109.46   tot 795.29
   [19]     qtv    move STBD_TURN   dir WEST  loc 4943,-3185  DistToNext 20.000000
    Speed 1, FLAG 1
     time  0.00   tot 795.29
   [20]     qtv    move FORWARD   dir WEST  loc 4923,-3185  DistToNext 19.000000
    Speed 1, FLAG 1
     time 36.00   tot 831.29
   [21]     qtv    move FORWARD   dir WEST  loc 4904,-3185  DistToNext 0.000000
    Speed 1, FLAG 2
     time 34.20   tot 865.49
  End Path <===
* ==> Start Path
   [ 0]     qtv    move STBD_TURN   dir SOUTH_WEST  loc 2469,29  DistToNext 50.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir SOUTH_WEST  loc 2504,-6  DistToNext 0.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
   [ 2]     qtv    move PORT_TURN   dir SOUTH  loc 2504,-6  DistToNext 50.000000
    Speed 0, FLAG 1
     time  0.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move STBD_TURN   dir NORTH_EAST  loc 2672,-940  DistToNext 50.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir NORTH_EAST  loc 2707,-975  DistToNext 0.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
   [ 2]     qtv    move STBD_TURN   dir EAST  loc 2707,-975  DistToNext 50.000000
    Speed 0, FLAG 1
     time  0.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move PORT_TURN   dir SOUTH  loc 3436,-2391  DistToNext 50.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir SOUTH  loc 3471,-2426  DistToNext 50.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move NO_MOVE   dir WEST  loc 1800,-1168  DistToNext 200.000000
    Speed 2, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir WEST  loc 1600,-1168  DistToNext 0.000000
    Speed 2, FLAG 1
     time 180.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move NO_MOVE   dir WEST  loc 1600,-1104  DistToNext 200.000000
    Speed 2, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir WEST  loc 1400,-1104  DistToNext 0.000000
    Speed 2, FLAG 1
     time 180.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move NO_MOVE   dir WEST  loc 2228,-824  DistToNext 200.000000
    Speed 2, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir WEST  loc 2028,-824  DistToNext 0.000000
    Speed 2, FLAG 1
     time 180.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move NO_MOVE   dir WEST  loc 1992,-752  DistToNext 200.000000
    Speed 2, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir WEST  loc 1792,-752  DistToNext 0.000000
    Speed 2, FLAG 1
     time 180.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move NO_MOVE   dir WEST  loc 1304,-612  DistToNext 200.000000
    Speed 2, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir WEST  loc 1104,-612  DistToNext 0.000000
    Speed 2, FLAG 1
     time 180.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move NO_MOVE   dir WEST  loc 1524,-564  DistToNext 200.000000
    Speed 2, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir WEST  loc 1324,-564  DistToNext 0.000000
    Speed 2, FLAG 1
     time 180.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move NO_MOVE   dir WEST  loc 1740,-684  DistToNext 200.000000
    Speed 2, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir WEST  loc 1540,-684  DistToNext 0.000000
    Speed 2, FLAG 1
     time 180.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move NO_MOVE   dir SOUTH_EAST  loc -900,794  DistToNext 499.217377
    Speed 5, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir SOUTH_EAST  loc -547,441  DistToNext 0.000000
    Speed 5, FLAG 1
     time 179.72   tot 179.72
  End Path <===
* ==> Start Path
   [ 0]     qtv    move NO_MOVE   dir SOUTH_EAST  loc -998,1090  DistToNext 599.626526
    Speed 6, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir SOUTH_EAST  loc -574,666  DistToNext 0.000000
    Speed 6, FLAG 1
     time 179.89   tot 179.89
  End Path <===
* ==> Start Path
   [ 0]     qtv    move NO_MOVE   dir SOUTH_EAST  loc 302,-306  DistToNext 499.217377
    Speed 5, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir SOUTH_EAST  loc 655,-659  DistToNext 0.000000
    Speed 5, FLAG 1
     time 179.72   tot 179.72
  End Path <===
* ==> Start Path
   [ 0]     qtv    move NO_MOVE   dir SOUTH_EAST  loc 198,-104  DistToNext 499.217377
    Speed 5, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir SOUTH_EAST  loc 551,-457  DistToNext 0.000000
    Speed 5, FLAG 1
     time 179.72   tot 179.72
  End Path <===
* ==> Start Path
   [ 0]     qtv    move NO_MOVE   dir SOUTH_EAST  loc -374,834  DistToNext 499.217377
    Speed 5, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir SOUTH_EAST  loc -21,481  DistToNext 0.000000
    Speed 5, FLAG 1
     time 179.72   tot 179.72
  End Path <===
* ==> Start Path
   [ 0]     qtv    move NO_MOVE   dir SOUTH_EAST  loc 2,594  DistToNext 499.217377
    Speed 5, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir SOUTH_EAST  loc 355,241  DistToNext 0.000000
    Speed 5, FLAG 1
     time 179.72   tot 179.72
  End Path <===
* ==> Start Path
   [ 0]     qtv    move NO_MOVE   dir SOUTH_EAST  loc -4,-98  DistToNext 499.217377
    Speed 5, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir SOUTH_EAST  loc 349,-451  DistToNext 0.000000
    Speed 5, FLAG 1
     time 179.72   tot 179.72
  End Path <===
* ==> Start Path
   [ 0]     qtv    move NO_MOVE   dir SOUTH_EAST  loc -112,816  DistToNext 499.217377
    Speed 5, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir SOUTH_EAST  loc 241,463  DistToNext 0.000000
    Speed 5, FLAG 1
     time 179.72   tot 179.72
  End Path <===
* ==> Start Path
   [ 0]     qtv    move NO_MOVE   dir SOUTH_EAST  loc -156,152  DistToNext 499.217377
    Speed 5, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir SOUTH_EAST  loc 197,-201  DistToNext 0.000000
    Speed 5, FLAG 1
     time 179.72   tot 179.72
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir WEST  loc 1600,-1168  DistToNext 0.000000
    Speed 2, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move PORT_TURN   dir SOUTH_WEST  loc 1600,-1168  DistToNext 39.597980
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move FORWARD   dir SOUTH_WEST  loc 1572,-1196  DistToNext 0.000000
    Speed 6, FLAG 1
     time 11.88   tot 11.88
   [ 3]     qtv    move PORT_TURN   dir SOUTH  loc 1572,-1196  DistToNext 40.000000
    Speed 0, FLAG 1
     time  0.00   tot 11.88
   [ 4]     qtv    move FORWARD   dir SOUTH  loc 1572,-1236  DistToNext 0.000000
    Speed 8, FLAG 1
     time  9.00   tot 20.88
   [ 5]     qtv    move PORT_TURN   dir SOUTH_EAST  loc 1572,-1236  DistToNext 39.597980
    Speed 0, FLAG 1
     time  0.00   tot 20.88
   [ 6]     qtv    move FORWARD   dir SOUTH_EAST  loc 1600,-1264  DistToNext 0.000000
    Speed 7, FLAG 1
     time 10.18   tot 31.06
   [ 7]     qtv    move PORT_TURN   dir EAST  loc 1600,-1264  DistToNext 40.000000
    Speed 0, FLAG 1
     time  0.00   tot 31.06
   [ 8]     qtv    move FORWARD   dir EAST  loc 1640,-1264  DistToNext 0.000000
    Speed 8, FLAG 1
     time  9.00   tot 40.06
   [ 9]     qtv    move PORT_TURN   dir NORTH_EAST  loc 1640,-1264  DistToNext 39.597980
    Speed 0, FLAG 1
     time  0.00   tot 40.06
   [10]     qtv    move FORWARD   dir NORTH_EAST  loc 1668,-1236  DistToNext 0.000000
    Speed 6, FLAG 1
     time 11.88   tot 51.94
   [11]     qtv    move PORT_TURN   dir NORTH  loc 1668,-1236  DistToNext 40.000000
    Speed 0, FLAG 1
     time  0.00   tot 51.94
   [12]     qtv    move FORWARD   dir NORTH  loc 1668,-1196  DistToNext 0.000000
    Speed 2, FLAG 1
     time 36.00   tot 87.94
   [13]     qtv    move PORT_TURN   dir NORTH_WEST  loc 1668,-1196  DistToNext 25.571907
    Speed 0, FLAG 1
     time  0.00   tot 87.94
   [14]     qtv    move FORWARD   dir NORTH_WEST  loc 1686,-1214  DistToNext 25.571907
    Speed -1, FLAG 1
     time 92.06   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir WEST  loc 1400,-1104  DistToNext 0.000000
    Speed 2, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move PORT_TURN   dir SOUTH_WEST  loc 1400,-1104  DistToNext 39.597980
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move FORWARD   dir SOUTH_WEST  loc 1372,-1132  DistToNext 0.000000
    Speed 6, FLAG 1
     time 11.88   tot 11.88
   [ 3]     qtv    move PORT_TURN   dir SOUTH  loc 1372,-1132  DistToNext 40.000000
    Speed 0, FLAG 1
     time  0.00   tot 11.88
   [ 4]     qtv    move FORWARD   dir SOUTH  loc 1372,-1172  DistToNext 0.000000
    Speed 8, FLAG 1
     time  9.00   tot 20.88
   [ 5]     qtv    move PORT_TURN   dir SOUTH_EAST  loc 1372,-1172  DistToNext 39.597980
    Speed 0, FLAG 1
     time  0.00   tot 20.88
   [ 6]     qtv    move FORWARD   dir SOUTH_EAST  loc 1400,-1200  DistToNext 0.000000
    Speed 7, FLAG 1
     time 10.18   tot 31.06
   [ 7]     qtv    move PORT_TURN   dir EAST  loc 1400,-1200  DistToNext 40.000000
    Speed 0, FLAG 1
     time  0.00   tot 31.06
   [ 8]     qtv    move FORWARD   dir EAST  loc 1440,-1200  DistToNext 0.000000
    Speed 8, FLAG 1
     time  9.00   tot 40.06
   [ 9]     qtv    move PORT_TURN   dir NORTH_EAST  loc 1440,-1200  DistToNext 39.597980
    Speed 0, FLAG 1
     time  0.00   tot 40.06
   [10]     qtv    move FORWARD   dir NORTH_EAST  loc 1468,-1172  DistToNext 0.000000
    Speed 6, FLAG 1
     time 11.88   tot 51.94
   [11]     qtv    move PORT_TURN   dir NORTH  loc 1468,-1172  DistToNext 40.000000
    Speed 0, FLAG 1
     time  0.00   tot 51.94
   [12]     qtv    move FORWARD   dir NORTH  loc 1468,-1132  DistToNext 0.000000
    Speed 2, FLAG 1
     time 36.00   tot 87.94
   [13]     qtv    move PORT_TURN   dir NORTH_WEST  loc 1468,-1132  DistToNext 25.571907
    Speed 0, FLAG 1
     time  0.00   tot 87.94
   [14]     qtv    move FORWARD   dir NORTH_WEST  loc 1486,-1150  DistToNext 25.571907
    Speed -1, FLAG 1
     time 92.06   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir WEST  loc 2028,-824  DistToNext 0.000000
    Speed 2, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move PORT_TURN   dir SOUTH_WEST  loc 2028,-824  DistToNext 59.396969
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move FORWARD   dir SOUTH_WEST  loc 1986,-866  DistToNext 0.000000
    Speed 4, FLAG 1
     time 26.73   tot 26.73
   [ 3]     qtv    move PORT_TURN   dir SOUTH  loc 1986,-866  DistToNext 120.000000
    Speed 0, FLAG 1
     time  0.00   tot 26.73
   [ 4]     qtv    move FORWARD   dir SOUTH  loc 1986,-986  DistToNext 0.000000
    Speed 6, FLAG 1
     time 36.00   tot 62.73
   [ 5]     qtv    move PORT_TURN   dir SOUTH_EAST  loc 1986,-986  DistToNext 118.793938
    Speed 0, FLAG 1
     time  0.00   tot 62.73
   [ 6]     qtv    move FORWARD   dir SOUTH_EAST  loc 2070,-1070  DistToNext 0.000000
    Speed 5, FLAG 1
     time 42.77   tot 105.49
   [ 7]     qtv    move PORT_TURN   dir EAST  loc 2070,-1070  DistToNext 120.000000
    Speed 0, FLAG 1
     time  0.00   tot 105.49
   [ 8]     qtv    move FORWARD   dir EAST  loc 2190,-1070  DistToNext 0.000000
    Speed 6, FLAG 1
     time 36.00   tot 141.49
   [ 9]     qtv    move PORT_TURN   dir NORTH_EAST  loc 2190,-1070  DistToNext 83.438599
    Speed 0, FLAG 1
     time  0.00   tot 141.49
   [10]     qtv    move FORWARD   dir NORTH_EAST  loc 2249,-1011  DistToNext 0.000000
    Speed 4, FLAG 1
     time 37.55   tot 179.04
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir WEST  loc 1792,-752  DistToNext 0.000000
    Speed 2, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move PORT_TURN   dir SOUTH_WEST  loc 1792,-752  DistToNext 59.396969
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move FORWARD   dir SOUTH_WEST  loc 1750,-794  DistToNext 0.000000
    Speed 4, FLAG 1
     time 26.73   tot 26.73
   [ 3]     qtv    move PORT_TURN   dir SOUTH  loc 1750,-794  DistToNext 120.000000
    Speed 0, FLAG 1
     time  0.00   tot 26.73
   [ 4]     qtv    move FORWARD   dir SOUTH  loc 1750,-914  DistToNext 0.000000
    Speed 6, FLAG 1
     time 36.00   tot 62.73
   [ 5]     qtv    move PORT_TURN   dir SOUTH_EAST  loc 1750,-914  DistToNext 118.793938
    Speed 0, FLAG 1
     time  0.00   tot 62.73
   [ 6]     qtv    move FORWARD   dir SOUTH_EAST  loc 1834,-998  DistToNext 0.000000
    Speed 5, FLAG 1
     time 42.77   tot 105.49
   [ 7]     qtv    move PORT_TURN   dir EAST  loc 1834,-998  DistToNext 120.000000
    Speed 0, FLAG 1
     time  0.00   tot 105.49
   [ 8]     qtv    move FORWARD   dir EAST  loc 1954,-998  DistToNext 0.000000
    Speed 6, FLAG 1
     time 36.00   tot 141.49
   [ 9]     qtv    move PORT_TURN   dir NORTH_EAST  loc 1954,-998  DistToNext 83.438599
    Speed 0, FLAG 1
     time  0.00   tot 141.49
   [10]     qtv    move FORWARD   dir NORTH_EAST  loc 2013,-939  DistToNext 0.000000
    Speed 4, FLAG 1
     time 37.55   tot 179.04
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir WEST  loc 1104,-612  DistToNext 0.000000
    Speed 2, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move PORT_TURN   dir SOUTH_WEST  loc 1104,-612  DistToNext 59.396969
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move FORWARD   dir SOUTH_WEST  loc 1062,-654  DistToNext 0.000000
    Speed 4, FLAG 1
     time 26.73   tot 26.73
   [ 3]     qtv    move PORT_TURN   dir SOUTH  loc 1062,-654  DistToNext 120.000000
    Speed 0, FLAG 1
     time  0.00   tot 26.73
   [ 4]     qtv    move FORWARD   dir SOUTH  loc 1062,-774  DistToNext 0.000000
    Speed 6, FLAG 1
     time 36.00   tot 62.73
   [ 5]     qtv    move PORT_TURN   dir SOUTH_EAST  loc 1062,-774  DistToNext 118.793938
    Speed 0, FLAG 1
     time  0.00   tot 62.73
   [ 6]     qtv    move FORWARD   dir SOUTH_EAST  loc 1146,-858  DistToNext 0.000000
    Speed 5, FLAG 1
     time 42.77   tot 105.49
   [ 7]     qtv    move PORT_TURN   dir EAST  loc 1146,-858  DistToNext 120.000000
    Speed 0, FLAG 1
     time  0.00   tot 105.49
   [ 8]     qtv    move FORWARD   dir EAST  loc 1266,-858  DistToNext 0.000000
    Speed 6, FLAG 1
     time 36.00   tot 141.49
   [ 9]     qtv    move PORT_TURN   dir NORTH_EAST  loc 1266,-858  DistToNext 83.438599
    Speed 0, FLAG 1
     time  0.00   tot 141.49
   [10]     qtv    move FORWARD   dir NORTH_EAST  loc 1325,-799  DistToNext 0.000000
    Speed 4, FLAG 1
     time 37.55   tot 179.04
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir WEST  loc 1324,-564  DistToNext 0.000000
    Speed 2, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move PORT_TURN   dir SOUTH_WEST  loc 1324,-564  DistToNext 69.296463
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move FORWARD   dir SOUTH_WEST  loc 1275,-613  DistToNext 0.000000
    Speed 4, FLAG 1
     time 31.18   tot 31.18
   [ 3]     qtv    move PORT_TURN   dir SOUTH  loc 1275,-613  DistToNext 140.000000
    Speed 0, FLAG 1
     time  0.00   tot 31.18
   [ 4]     qtv    move FORWARD   dir SOUTH  loc 1275,-753  DistToNext 0.000000
    Speed 6, FLAG 1
     time 42.00   tot 73.18
   [ 5]     qtv    move PORT_TURN   dir SOUTH_EAST  loc 1275,-753  DistToNext 138.592926
    Speed 0, FLAG 1
     time  0.00   tot 73.18
   [ 6]     qtv    move FORWARD   dir SOUTH_EAST  loc 1373,-851  DistToNext 0.000000
    Speed 5, FLAG 1
     time 49.89   tot 123.08
   [ 7]     qtv    move PORT_TURN   dir EAST  loc 1373,-851  DistToNext 140.000000
    Speed 0, FLAG 1
     time  0.00   tot 123.08
   [ 8]     qtv    move FORWARD   dir EAST  loc 1513,-851  DistToNext 0.000000
    Speed 6, FLAG 1
     time 42.00   tot 165.08
   [ 9]     qtv    move PORT_TURN   dir NORTH_EAST  loc 1513,-851  DistToNext 31.112698
    Speed 0, FLAG 1
     time  0.00   tot 165.08
   [10]     qtv    move FORWARD   dir NORTH_EAST  loc 1535,-829  DistToNext 7.071068
    Speed 4, FLAG 1
     time 14.00   tot 179.08
   [11]     qtv    move FORWARD   dir NORTH_EAST  loc 1540,-824  DistToNext 0.000000
    Speed 4, FLAG 2
     time  3.18   tot 182.26
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir WEST  loc 1540,-684  DistToNext 0.000000
    Speed 2, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move PORT_TURN   dir SOUTH_WEST  loc 1540,-684  DistToNext 59.396969
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move FORWARD   dir SOUTH_WEST  loc 1498,-726  DistToNext 0.000000
    Speed 4, FLAG 1
     time 26.73   tot 26.73
   [ 3]     qtv    move PORT_TURN   dir SOUTH  loc 1498,-726  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot 26.73
   [ 4]     qtv    move FORWARD   dir SOUTH  loc 1498,-786  DistToNext 0.000000
    Speed 6, FLAG 1
     time 18.00   tot 44.73
   [ 5]     qtv    move PORT_TURN   dir SOUTH_EAST  loc 1498,-786  DistToNext 118.793938
    Speed 0, FLAG 1
     time  0.00   tot 44.73
   [ 6]     qtv    move FORWARD   dir SOUTH_EAST  loc 1582,-870  DistToNext 0.000000
    Speed 5, FLAG 1
     time 42.77   tot 87.49
   [ 7]     qtv    move PORT_TURN   dir EAST  loc 1582,-870  DistToNext 120.000000
    Speed 0, FLAG 1
     time  0.00   tot 87.49
   [ 8]     qtv    move FORWARD   dir EAST  loc 1702,-870  DistToNext 0.000000
    Speed 6, FLAG 1
     time 36.00   tot 123.49
   [ 9]     qtv    move PORT_TURN   dir NORTH_EAST  loc 1702,-870  DistToNext 118.793938
    Speed 0, FLAG 1
     time  0.00   tot 123.49
   [10]     qtv    move FORWARD   dir NORTH_EAST  loc 1786,-786  DistToNext 0.000000
    Speed 4, FLAG 1
     time 53.46   tot 176.95
   [11]     qtv    move PORT_TURN   dir NORTH  loc 1786,-786  DistToNext 2.000000
    Speed 0, FLAG 1
     time  0.00   tot 176.95
   [12]     qtv    move FORWARD   dir NORTH  loc 1786,-784  DistToNext 55.000000
    Speed 2, FLAG 1
     time  1.80   tot 178.75
   [13]     qtv    move FORWARD   dir NORTH  loc 1786,-729  DistToNext 0.000000
    Speed 2, FLAG 2
     time 49.50   tot 228.25
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir SOUTH_EAST  loc -547,441  DistToNext 0.000000
    Speed 5, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move STBD_TURN   dir SOUTH  loc -547,441  DistToNext 40.000000
    Speed 5, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move FORWARD   dir SOUTH  loc -547,401  DistToNext 0.000000
    Speed 6, FLAG 1
     time 12.00   tot 12.00
   [ 3]     qtv    move STBD_TURN   dir SOUTH_WEST  loc -547,401  DistToNext 41.012192
    Speed 6, FLAG 1
     time  0.00   tot 12.00
   [ 4]     qtv    move FORWARD   dir SOUTH_WEST  loc -576,372  DistToNext 0.000000
    Speed 4, FLAG 1
     time 18.46   tot 30.46
   [ 5]     qtv    move STBD_TURN   dir WEST  loc -576,372  DistToNext 0.000000
    Speed 4, FLAG 1
     time  0.00   tot 30.46
   [ 6]     qtv    move STBD_TURN   dir NORTH_WEST  loc -576,372  DistToNext 41.012192
    Speed 0, FLAG 1
     time  0.00   tot 30.46
   [ 7]     qtv    move FORWARD   dir NORTH_WEST  loc -605,401  DistToNext 0.000000
    Speed 4, FLAG 1
     time 18.46   tot 48.91
   [ 8]     qtv    move STBD_TURN   dir NORTH  loc -605,401  DistToNext 40.000000
    Speed 4, FLAG 1
     time  0.00   tot 48.91
   [ 9]     qtv    move FORWARD   dir NORTH  loc -605,441  DistToNext 0.000000
    Speed 2, FLAG 1
     time 36.00   tot 84.91
   [10]     qtv    move PORT_TURN   dir NORTH_WEST  loc -605,441  DistToNext 41.012192
    Speed 0, FLAG 1
     time  0.00   tot 84.91
   [11]     qtv    move FORWARD   dir NORTH_WEST  loc -634,470  DistToNext 0.000000
    Speed 0, FLAG 1
     time   inf   tot   inf
   [12]     qtv    move PORT_TURN   dir WEST  loc -634,470  DistToNext 40.000000
    Speed 0, FLAG 1
     time  0.00   tot   inf
   [13]     qtv    move FORWARD   dir WEST  loc -674,470  DistToNext 0.000000
    Speed 2, FLAG 1
     time 36.00   tot   inf
   [14]     qtv    move PORT_TURN   dir SOUTH_WEST  loc -674,470  DistToNext 0.000000
    Speed 2, FLAG 1
     time  0.00   tot   inf
   [15]     qtv    move PORT_TURN   dir SOUTH  loc -674,470  DistToNext 40.000000
    Speed 0, FLAG 1
     time  0.00   tot   inf
   [16]     qtv    move FORWARD   dir SOUTH  loc -674,430  DistToNext 0.000000
    Speed 6, FLAG 1
     time 12.00   tot   inf
   [17]     qtv    move STBD_TURN   dir SOUTH_WEST  loc -674,430  DistToNext 39.597980
    Speed 6, FLAG 1
     time  0.00   tot   inf
   [18]     qtv    move FORWARD   dir SOUTH_WEST  loc -702,402  DistToNext 0.000000
    Speed 4, FLAG 1
     time 17.82   tot   inf
   [19]     qtv    move STBD_TURN   dir WEST  loc -702,402  DistToNext 40.000000
    Speed 0, FLAG 1
     time  0.00   tot   inf
   [20]     qtv    move FORWARD   dir WEST  loc -742,402  DistToNext 0.000000
    Speed 2, FLAG 1
     time 36.00   tot   inf
   [21]     qtv    move STBD_TURN   dir NORTH_WEST  loc -742,402  DistToNext 41.012192
    Speed 2, FLAG 1
     time  0.00   tot   inf
   [22]     qtv    move FORWARD   dir NORTH_WEST  loc -771,431  DistToNext 0.000000
    Speed 2, FLAG 1
     time 36.91   tot   inf
   [23]     qtv    move STBD_TURN   dir NORTH  loc -771,431  DistToNext 0.000000
    Speed 2, FLAG 1
     time  0.00   tot   inf
   [24]     qtv    move STBD_TURN   dir NORTH_EAST  loc -771,431  DistToNext 41.012192
    Speed 0, FLAG 1
     time  0.00   tot   inf
   [25]     qtv    move FORWARD   dir NORTH_EAST  loc -742,460  DistToNext 0.000000
    Speed 4, FLAG 1
     time 18.46   tot   inf
   [26]     qtv    move STBD_TURN   dir EAST  loc -742,460  DistToNext 40.000000
    Speed 4, FLAG 1
     time  0.00   tot   inf
   [27]     qtv    move FORWARD   dir EAST  loc -702,460  DistToNext 0.000000
    Speed 6, FLAG 1
     time 12.00   tot   inf
   [28]     qtv    move PORT_TURN   dir NORTH_EAST  loc -702,460  DistToNext 41.012192
    Speed 0, FLAG 1
     time  0.00   tot   inf
   [29]     qtv    move FORWARD   dir NORTH_EAST  loc -673,489  DistToNext 0.000000
    Speed 4, FLAG 1
     time 18.46   tot   inf
   [30]     qtv    move PORT_TURN   dir NORTH  loc -673,489  DistToNext 40.000000
    Speed 4, FLAG 1
     time  0.00   tot   inf
   [31]     qtv    move FORWARD   dir NORTH  loc -673,529  DistToNext 0.000000
    Speed 2, FLAG 1
     time 36.00   tot   inf
   [32]     qtv    move PORT_TURN   dir NORTH_WEST  loc -673,529  DistToNext 0.000000
    Speed 2, FLAG 1
     time  0.00   tot   inf
   [33]     qtv    move PORT_TURN   dir WEST  loc -673,529  DistToNext 40.000000
    Speed 0, FLAG 1
     time  0.00   tot   inf
   [34]     qtv    move FORWARD   dir WEST  loc -713,529  DistToNext 0.000000
    Speed 2, FLAG 1
     time 36.00   tot   inf
   [35]     qtv    move STBD_TURN   dir NORTH_WEST  loc -713,529  DistToNext -inf
    Speed 2, FLAG 1
     time  0.00   tot   inf
   [36]     qtv    move FORWARD   dir NORTH_WEST  loc 2147482935,-2147483119  DistToNext 0.000000
    Speed -1, FLAG 1
     time  -inf   tot  -nan
   [37]     qtv    move PORT_TURN   dir WEST  loc 2147482935,-2147483119  DistToNext -inf
    Speed 0, FLAG 1
     time  0.00   tot  -nan
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir SOUTH_EAST  loc -574,666  DistToNext 599.626526
    Speed 6, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir SOUTH_EAST  loc -150,242  DistToNext 0.000000
    Speed 6, FLAG 1
     time 179.89   tot 179.89
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir SOUTH_EAST  loc 655,-659  DistToNext 0.000000
    Speed 5, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move PORT_TURN   dir EAST  loc 655,-659  DistToNext 600.000000
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move FORWARD   dir EAST  loc 1255,-659  DistToNext 0.000000
    Speed 6, FLAG 1
     time 180.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir SOUTH_EAST  loc 551,-457  DistToNext 0.000000
    Speed 5, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move PORT_TURN   dir EAST  loc 551,-457  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move FORWARD   dir EAST  loc 611,-457  DistToNext 0.000000
    Speed 6, FLAG 1
     time 18.00   tot 18.00
   [ 3]     qtv    move PORT_TURN   dir NORTH_EAST  loc 611,-457  DistToNext 118.793938
    Speed 0, FLAG 1
     time  0.00   tot 18.00
   [ 4]     qtv    move FORWARD   dir NORTH_EAST  loc 695,-373  DistToNext 0.000000
    Speed 4, FLAG 1
     time 53.46   tot 71.46
   [ 5]     qtv    move PORT_TURN   dir NORTH  loc 695,-373  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot 71.46
   [ 6]     qtv    move FORWARD   dir NORTH  loc 695,-313  DistToNext 0.000000
    Speed 2, FLAG 1
     time 54.00   tot 125.46
   [ 7]     qtv    move PORT_TURN   dir NORTH_WEST  loc 695,-313  DistToNext 60.811184
    Speed 2, FLAG 1
     time  0.00   tot 125.46
   [ 8]     qtv    move FORWARD   dir NORTH_WEST  loc 652,-270  DistToNext 0.000000
    Speed 2, FLAG 1
     time 54.73   tot 180.19
   [ 9]     qtv    move PORT_TURN   dir WEST  loc 652,-270  DistToNext 0.000000
    Speed 2, FLAG 1
     time  0.00   tot 180.19
   [10]     qtv    move PORT_TURN   dir SOUTH_WEST  loc 652,-270  DistToNext 60.811184
    Speed 0, FLAG 1
     time  0.00   tot 180.19
   [11]     qtv    move FORWARD   dir SOUTH_WEST  loc 609,-313  DistToNext 0.000000
    Speed 4, FLAG 1
     time 27.36   tot 207.55
   [12]     qtv    move STBD_TURN   dir WEST  loc 609,-313  DistToNext 120.000000
    Speed 4, FLAG 1
     time  0.00   tot 207.55
   [13]     qtv    move FORWARD   dir WEST  loc 489,-313  DistToNext 0.000000
    Speed 2, FLAG 1
     time 108.00   tot 315.55
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir SOUTH_EAST  loc -21,481  DistToNext 0.000000
    Speed 5, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move PORT_TURN   dir EAST  loc -21,481  DistToNext 60.000000
    Speed 5, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move FORWARD   dir EAST  loc 39,481  DistToNext 0.000000
    Speed 6, FLAG 1
     time 18.00   tot 18.00
   [ 3]     qtv    move PORT_TURN   dir NORTH_EAST  loc 39,481  DistToNext 60.811184
    Speed 6, FLAG 1
     time  0.00   tot 18.00
   [ 4]     qtv    move FORWARD   dir NORTH_EAST  loc 82,524  DistToNext 0.000000
    Speed 4, FLAG 1
     time 27.36   tot 45.36
   [ 5]     qtv    move PORT_TURN   dir NORTH  loc 82,524  DistToNext 0.000000
    Speed 4, FLAG 1
     time  0.00   tot 45.36
   [ 6]     qtv    move PORT_TURN   dir NORTH_WEST  loc 82,524  DistToNext 60.811184
    Speed 0, FLAG 1
     time  0.00   tot 45.36
   [ 7]     qtv    move FORWARD   dir NORTH_WEST  loc 39,567  DistToNext 0.000000
    Speed 4, FLAG 1
     time 27.36   tot 72.73
   [ 8]     qtv    move PORT_TURN   dir WEST  loc 39,567  DistToNext 119.000000
    Speed 4, FLAG 1
     time  0.00   tot 72.73
   [ 9]     qtv    move FORWARD   dir WEST  loc -80,567  DistToNext 0.000000
    Speed 2, FLAG 1
     time 107.10   tot 179.83
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir SOUTH_EAST  loc 355,241  DistToNext 0.000000
    Speed 5, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move PORT_TURN   dir EAST  loc 355,241  DistToNext 120.000000
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move FORWARD   dir EAST  loc 475,241  DistToNext 0.000000
    Speed 6, FLAG 1
     time 36.00   tot 36.00
   [ 3]     qtv    move PORT_TURN   dir NORTH_EAST  loc 475,241  DistToNext 60.811184
    Speed 0, FLAG 1
     time  0.00   tot 36.00
   [ 4]     qtv    move FORWARD   dir NORTH_EAST  loc 518,284  DistToNext 0.000000
    Speed 4, FLAG 1
     time 27.36   tot 63.36
   [ 5]     qtv    move PORT_TURN   dir NORTH  loc 518,284  DistToNext 60.000000
    Speed 4, FLAG 1
     time  0.00   tot 63.36
   [ 6]     qtv    move FORWARD   dir NORTH  loc 518,344  DistToNext 0.000000
    Speed 2, FLAG 1
     time 54.00   tot 117.36
   [ 7]     qtv    move PORT_TURN   dir NORTH_WEST  loc 518,344  DistToNext 0.000000
    Speed 2, FLAG 1
     time  0.00   tot 117.36
   [ 8]     qtv    move PORT_TURN   dir WEST  loc 518,344  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot 117.36
   [ 9]     qtv    move FORWARD   dir WEST  loc 458,344  DistToNext 0.000000
    Speed 2, FLAG 1
     time 54.00   tot 171.36
   [10]     qtv    move STBD_TURN   dir NORTH_WEST  loc 458,344  DistToNext 2.398605
    Speed 2, FLAG 1
     time  0.00   tot 171.36
   [11]     qtv    move FORWARD   dir NORTH_WEST  loc 459,343  DistToNext 0.000000
    Speed -1, FLAG 1
     time  8.63   tot 180.00
   [12]     qtv    move PORT_TURN   dir WEST  loc 459,343  DistToNext 2.398605
    Speed 0, FLAG 1
     time  0.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir SOUTH_EAST  loc 349,-451  DistToNext 0.000000
    Speed 5, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move PORT_TURN   dir EAST  loc 349,-451  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move FORWARD   dir EAST  loc 409,-451  DistToNext 0.000000
    Speed 6, FLAG 1
     time 18.00   tot 18.00
   [ 3]     qtv    move PORT_TURN   dir NORTH_EAST  loc 409,-451  DistToNext 118.793938
    Speed 0, FLAG 1
     time  0.00   tot 18.00
   [ 4]     qtv    move FORWARD   dir NORTH_EAST  loc 493,-367  DistToNext 0.000000
    Speed 4, FLAG 1
     time 53.46   tot 71.46
   [ 5]     qtv    move PORT_TURN   dir NORTH  loc 493,-367  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot 71.46
   [ 6]     qtv    move FORWARD   dir NORTH  loc 493,-307  DistToNext 0.000000
    Speed 2, FLAG 1
     time 54.00   tot 125.46
   [ 7]     qtv    move PORT_TURN   dir NORTH_WEST  loc 493,-307  DistToNext 60.811184
    Speed 2, FLAG 1
     time  0.00   tot 125.46
   [ 8]     qtv    move FORWARD   dir NORTH_WEST  loc 450,-264  DistToNext 0.000000
    Speed 2, FLAG 1
     time 54.73   tot 180.19
   [ 9]     qtv    move PORT_TURN   dir WEST  loc 450,-264  DistToNext 0.000000
    Speed 2, FLAG 1
     time  0.00   tot 180.19
   [10]     qtv    move PORT_TURN   dir SOUTH_WEST  loc 450,-264  DistToNext 60.811184
    Speed 0, FLAG 1
     time  0.00   tot 180.19
   [11]     qtv    move FORWARD   dir SOUTH_WEST  loc 407,-307  DistToNext 0.000000
    Speed 4, FLAG 1
     time 27.36   tot 207.55
   [12]     qtv    move STBD_TURN   dir WEST  loc 407,-307  DistToNext 120.000000
    Speed 4, FLAG 1
     time  0.00   tot 207.55
   [13]     qtv    move FORWARD   dir WEST  loc 287,-307  DistToNext 0.000000
    Speed 2, FLAG 1
     time 108.00   tot 315.55
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir SOUTH_EAST  loc 241,463  DistToNext 0.000000
    Speed 5, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move PORT_TURN   dir EAST  loc 241,463  DistToNext 120.000000
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move FORWARD   dir EAST  loc 361,463  DistToNext 0.000000
    Speed 6, FLAG 1
     time 36.00   tot 36.00
   [ 3]     qtv    move PORT_TURN   dir NORTH_EAST  loc 361,463  DistToNext 60.811184
    Speed 0, FLAG 1
     time  0.00   tot 36.00
   [ 4]     qtv    move FORWARD   dir NORTH_EAST  loc 404,506  DistToNext 0.000000
    Speed 4, FLAG 1
     time 27.36   tot 63.36
   [ 5]     qtv    move PORT_TURN   dir NORTH  loc 404,506  DistToNext 60.000000
    Speed 4, FLAG 1
     time  0.00   tot 63.36
   [ 6]     qtv    move FORWARD   dir NORTH  loc 404,566  DistToNext 0.000000
    Speed 2, FLAG 1
     time 54.00   tot 117.36
   [ 7]     qtv    move PORT_TURN   dir NORTH_WEST  loc 404,566  DistToNext 0.000000
    Speed 2, FLAG 1
     time  0.00   tot 117.36
   [ 8]     qtv    move PORT_TURN   dir WEST  loc 404,566  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot 117.36
   [ 9]     qtv    move FORWARD   dir WEST  loc 344,566  DistToNext 0.000000
    Speed 2, FLAG 1
     time 54.00   tot 171.36
   [10]     qtv    move STBD_TURN   dir NORTH_WEST  loc 344,566  DistToNext 2.398605
    Speed 2, FLAG 1
     time  0.00   tot 171.36
   [11]     qtv    move FORWARD   dir NORTH_WEST  loc 345,565  DistToNext 0.000000
    Speed -1, FLAG 1
     time  8.63   tot 180.00
   [12]     qtv    move STBD_TURN   dir NORTH  loc 345,565  DistToNext 2.398605
    Speed 0, FLAG 1
     time  0.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir SOUTH_EAST  loc 197,-201  DistToNext 0.000000
    Speed 5, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move PORT_TURN   dir EAST  loc 197,-201  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move FORWARD   dir EAST  loc 257,-201  DistToNext 0.000000
    Speed 6, FLAG 1
     time 18.00   tot 18.00
   [ 3]     qtv    move PORT_TURN   dir NORTH_EAST  loc 257,-201  DistToNext 118.793938
    Speed 0, FLAG 1
     time  0.00   tot 18.00
   [ 4]     qtv    move FORWARD   dir NORTH_EAST  loc 341,-117  DistToNext 0.000000
    Speed 4, FLAG 1
     time 53.46   tot 71.46
   [ 5]     qtv    move PORT_TURN   dir NORTH  loc 341,-117  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot 71.46
   [ 6]     qtv    move FORWARD   dir NORTH  loc 341,-57  DistToNext 0.000000
    Speed 2, FLAG 1
     time 54.00   tot 125.46
   [ 7]     qtv    move PORT_TURN   dir NORTH_WEST  loc 341,-57  DistToNext 60.811184
    Speed 2, FLAG 1
     time  0.00   tot 125.46
   [ 8]     qtv    move FORWARD   dir NORTH_WEST  loc 298,-14  DistToNext 0.000000
    Speed 2, FLAG 1
     time 54.73   tot 180.19
   [ 9]     qtv    move PORT_TURN   dir WEST  loc 298,-14  DistToNext 0.000000
    Speed 2, FLAG 1
     time  0.00   tot 180.19
   [10]     qtv    move PORT_TURN   dir SOUTH_WEST  loc 298,-14  DistToNext 60.811184
    Speed 0, FLAG 1
     time  0.00   tot 180.19
   [11]     qtv    move FORWARD   dir SOUTH_WEST  loc 255,-57  DistToNext 0.000000
    Speed 4, FLAG 1
     time 27.36   tot 207.55
   [12]     qtv    move STBD_TURN   dir WEST  loc 255,-57  DistToNext 120.000000
    Speed 4, FLAG 1
     time  0.00   tot 207.55
   [13]     qtv    move FORWARD   dir WEST  loc 135,-57  DistToNext 0.000000
    Speed 2, FLAG 1
     time 108.00   tot 315.55
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir NORTH_WEST  loc 1686,-1214  DistToNext 50.000000
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir NORTH_WEST  loc 1721,-1249  DistToNext 50.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir NORTH_WEST  loc 1486,-1150  DistToNext 50.000000
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir NORTH_WEST  loc 1521,-1185  DistToNext 0.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
   [ 2]     qtv    move PORT_TURN   dir WEST  loc 1521,-1185  DistToNext 50.000000
    Speed 0, FLAG 1
     time  0.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir NORTH_EAST  loc 2249,-1011  DistToNext 0.000000
    Speed 4, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move PORT_TURN   dir NORTH  loc 2249,-1011  DistToNext 60.000000
    Speed 4, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move FORWARD   dir NORTH  loc 2249,-951  DistToNext 0.000000
    Speed 2, FLAG 1
     time 54.00   tot 54.00
   [ 3]     qtv    move PORT_TURN   dir NORTH_WEST  loc 2249,-951  DistToNext 60.811184
    Speed 2, FLAG 1
     time  0.00   tot 54.00
   [ 4]     qtv    move FORWARD   dir NORTH_WEST  loc 2206,-908  DistToNext 0.000000
    Speed 2, FLAG 1
     time 54.73   tot 108.73
   [ 5]     qtv    move PORT_TURN   dir WEST  loc 2206,-908  DistToNext 0.000000
    Speed 2, FLAG 1
     time  0.00   tot 108.73
   [ 6]     qtv    move PORT_TURN   dir SOUTH_WEST  loc 2206,-908  DistToNext 60.811184
    Speed 0, FLAG 1
     time  0.00   tot 108.73
   [ 7]     qtv    move FORWARD   dir SOUTH_WEST  loc 2163,-951  DistToNext 0.000000
    Speed 4, FLAG 1
     time 27.36   tot 136.09
   [ 8]     qtv    move STBD_TURN   dir WEST  loc 2163,-951  DistToNext 48.000000
    Speed 4, FLAG 1
     time  0.00   tot 136.09
   [ 9]     qtv    move FORWARD   dir WEST  loc 2115,-951  DistToNext 37.000000
    Speed 2, FLAG 1
     time 43.20   tot 179.29
   [10]     qtv    move FORWARD   dir WEST  loc 2152,-951  DistToNext 0.000000
    Speed 2, FLAG 2
     time 33.30   tot 212.59
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir NORTH_EAST  loc 2013,-939  DistToNext 0.000000
    Speed 4, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move STBD_TURN   dir EAST  loc 2013,-939  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move FORWARD   dir EAST  loc 2073,-939  DistToNext 0.000000
    Speed 6, FLAG 1
     time 18.00   tot 18.00
   [ 3]     qtv    move STBD_TURN   dir SOUTH_EAST  loc 2073,-939  DistToNext 118.793938
    Speed 0, FLAG 1
     time  0.00   tot 18.00
   [ 4]     qtv    move FORWARD   dir SOUTH_EAST  loc 2157,-1023  DistToNext 0.000000
    Speed 5, FLAG 1
     time 42.77   tot 60.77
   [ 5]     qtv    move STBD_TURN   dir SOUTH  loc 2157,-1023  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot 60.77
   [ 6]     qtv    move FORWARD   dir SOUTH  loc 2157,-1083  DistToNext 0.000000
    Speed 6, FLAG 1
     time 18.00   tot 78.77
   [ 7]     qtv    move STBD_TURN   dir SOUTH_WEST  loc 2157,-1083  DistToNext 60.811184
    Speed 6, FLAG 1
     time  0.00   tot 78.77
   [ 8]     qtv    move FORWARD   dir SOUTH_WEST  loc 2114,-1126  DistToNext 0.000000
    Speed 4, FLAG 1
     time 27.36   tot 106.13
   [ 9]     qtv    move STBD_TURN   dir WEST  loc 2114,-1126  DistToNext 0.000000
    Speed 4, FLAG 1
     time  0.00   tot 106.13
   [10]     qtv    move STBD_TURN   dir NORTH_WEST  loc 2114,-1126  DistToNext 60.811184
    Speed 0, FLAG 1
     time  0.00   tot 106.13
   [11]     qtv    move FORWARD   dir NORTH_WEST  loc 2071,-1083  DistToNext 0.000000
    Speed 4, FLAG 1
     time 27.36   tot 133.49
   [12]     qtv    move STBD_TURN   dir NORTH  loc 2071,-1083  DistToNext 120.000000
    Speed 4, FLAG 1
     time  0.00   tot 133.49
   [13]     qtv    move FORWARD   dir NORTH  loc 2071,-963  DistToNext 0.000000
    Speed 2, FLAG 1
     time 108.00   tot 241.49
   [14]     qtv    move PORT_TURN   dir NORTH_WEST  loc 2071,-963  DistToNext 60.811184
    Speed 0, FLAG 1
     time  0.00   tot 241.49
   [15]     qtv    move FORWARD   dir NORTH_WEST  loc 2028,-920  DistToNext 0.000000
    Speed 0, FLAG 1
     time   inf   tot   inf
   [16]     qtv    move PORT_TURN   dir WEST  loc 2028,-920  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot   inf
   [17]     qtv    move FORWARD   dir WEST  loc 1968,-920  DistToNext 0.000000
    Speed 2, FLAG 1
     time 54.00   tot   inf
   [18]     qtv    move PORT_TURN   dir SOUTH_WEST  loc 1968,-920  DistToNext 0.000000
    Speed 2, FLAG 1
     time  0.00   tot   inf
   [19]     qtv    move PORT_TURN   dir SOUTH  loc 1968,-920  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot   inf
   [20]     qtv    move FORWARD   dir SOUTH  loc 1968,-980  DistToNext 0.000000
    Speed 6, FLAG 1
     time 18.00   tot   inf
   [21]     qtv    move STBD_TURN   dir SOUTH_WEST  loc 1968,-980  DistToNext 22.627417
    Speed 6, FLAG 1
     time  0.00   tot   inf
   [22]     qtv    move FORWARD   dir SOUTH_WEST  loc 1952,-996  DistToNext 12.727922
    Speed 4, FLAG 1
     time 10.18   tot   inf
   [23]     qtv    move FORWARD   dir SOUTH_WEST  loc 1943,-1005  DistToNext 0.000000
    Speed 4, FLAG 2
     time  5.73   tot   inf
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir NORTH_EAST  loc 1325,-799  DistToNext 0.000000
    Speed 4, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move PORT_TURN   dir NORTH  loc 1325,-799  DistToNext 200.000000
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move FORWARD   dir NORTH  loc 1325,-599  DistToNext 0.000000
    Speed 2, FLAG 1
     time 180.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir NORTH_EAST  loc 1535,-829  DistToNext 0.000000
    Speed 4, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move PORT_TURN   dir NORTH  loc 1535,-829  DistToNext 200.000000
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move FORWARD   dir NORTH  loc 1535,-629  DistToNext 0.000000
    Speed 2, FLAG 1
     time 180.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir NORTH  loc 1786,-784  DistToNext 0.000000
    Speed 2, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move BACK_SAIL   dir NORTH_EAST  loc 1786,-784  DistToNext 59.396969
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move STBD_TURN   dir NORTH_EAST  loc 1786,-784  DistToNext 59.396969
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 3]     qtv    move FORWARD   dir NORTH_EAST  loc 1828,-742  DistToNext 0.000000
    Speed 3, FLAG 1
     time 35.64   tot 35.64
   [ 4]     qtv    move STBD_TURN   dir EAST  loc 1828,-742  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot 35.64
   [ 5]     qtv    move FORWARD   dir EAST  loc 1888,-742  DistToNext 0.000000
    Speed 5, FLAG 1
     time 21.60   tot 57.24
   [ 6]     qtv    move STBD_TURN   dir SOUTH_EAST  loc 1888,-742  DistToNext 118.793938
    Speed 0, FLAG 1
     time  0.00   tot 57.24
   [ 7]     qtv    move FORWARD   dir SOUTH_EAST  loc 1972,-826  DistToNext 0.000000
    Speed 4, FLAG 1
     time 53.46   tot 110.69
   [ 8]     qtv    move STBD_TURN   dir SOUTH  loc 1972,-826  DistToNext 120.000000
    Speed 0, FLAG 1
     time  0.00   tot 110.69
   [ 9]     qtv    move FORWARD   dir SOUTH  loc 1972,-946  DistToNext 0.000000
    Speed 5, FLAG 1
     time 43.20   tot 153.89
   [10]     qtv    move STBD_TURN   dir SOUTH_WEST  loc 1972,-946  DistToNext 98.994949
    Speed 0, FLAG 1
     time  0.00   tot 153.89
   [11]     qtv    move FORWARD   dir SOUTH_WEST  loc 1902,-1016  DistToNext 0.000000
    Speed 4, FLAG 1
     time 44.55   tot 198.44
   [12]     qtv    move NO_DIRECTION   dir SOUTH_WEST  loc 1902,-1016  DistToNext 118.793938
    Speed 0, FLAG 1
     time  0.00   tot 198.44
  End Path <===
* ==> Start Path
   [ 0]     qtv    move STBD_TURN   dir WEST  loc -713,529  DistToNext 40.000000
    Speed 2, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir WEST  loc -753,529  DistToNext 0.000000
    Speed 2, FLAG 1
     time 36.00   tot 36.00
   [ 2]     qtv    move PORT_TURN   dir SOUTH_WEST  loc -753,529  DistToNext 39.597980
    Speed 0, FLAG 1
     time  0.00   tot 36.00
   [ 3]     qtv    move FORWARD   dir SOUTH_WEST  loc -781,501  DistToNext 0.000000
    Speed 4, FLAG 1
     time 17.82   tot 53.82
   [ 4]     qtv    move PORT_TURN   dir SOUTH  loc -781,501  DistToNext 40.000000
    Speed 0, FLAG 1
     time  0.00   tot 53.82
   [ 5]     qtv    move FORWARD   dir SOUTH  loc -781,461  DistToNext 0.000000
    Speed 6, FLAG 1
     time 12.00   tot 65.82
   [ 6]     qtv    move PORT_TURN   dir SOUTH_EAST  loc -781,461  DistToNext 315.369629
    Speed 0, FLAG 1
     time  0.00   tot 65.82
   [ 7]     qtv    move FORWARD   dir SOUTH_EAST  loc -558,238  DistToNext 0.000000
    Speed 5, FLAG 1
     time 113.53   tot 179.35
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir SOUTH_EAST  loc -150,242  DistToNext 0.000000
    Speed 6, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move PORT_TURN   dir EAST  loc -150,242  DistToNext 40.000000
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move FORWARD   dir EAST  loc -110,242  DistToNext 0.000000
    Speed 8, FLAG 1
     time  9.00   tot  9.00
   [ 3]     qtv    move PORT_TURN   dir NORTH_EAST  loc -110,242  DistToNext 39.597980
    Speed 0, FLAG 1
     time  0.00   tot  9.00
   [ 4]     qtv    move FORWARD   dir NORTH_EAST  loc -82,270  DistToNext 0.000000
    Speed 5, FLAG 1
     time 14.26   tot 23.26
   [ 5]     qtv    move PORT_TURN   dir NORTH  loc -82,270  DistToNext 40.000000
    Speed 0, FLAG 1
     time  0.00   tot 23.26
   [ 6]     qtv    move FORWARD   dir NORTH  loc -82,310  DistToNext 0.000000
    Speed 2, FLAG 1
     time 36.00   tot 59.25
   [ 7]     qtv    move PORT_TURN   dir NORTH_WEST  loc -82,310  DistToNext 41.012192
    Speed 0, FLAG 1
     time  0.00   tot 59.25
   [ 8]     qtv    move FORWARD   dir NORTH_WEST  loc -111,339  DistToNext 0.000000
    Speed 0, FLAG 1
     time   inf   tot   inf
   [ 9]     qtv    move PORT_TURN   dir WEST  loc -111,339  DistToNext 40.000000
    Speed 0, FLAG 1
     time  0.00   tot   inf
   [10]     qtv    move FORWARD   dir WEST  loc -151,339  DistToNext 0.000000
    Speed 2, FLAG 1
     time 36.00   tot   inf
   [11]     qtv    move PORT_TURN   dir SOUTH_WEST  loc -151,339  DistToNext 0.000000
    Speed 2, FLAG 1
     time  0.00   tot   inf
   [12]     qtv    move PORT_TURN   dir SOUTH  loc -151,339  DistToNext 40.000000
    Speed 0, FLAG 1
     time  0.00   tot   inf
   [13]     qtv    move FORWARD   dir SOUTH  loc -151,299  DistToNext 0.000000
    Speed 8, FLAG 1
     time  9.00   tot   inf
   [14]     qtv    move STBD_TURN   dir SOUTH_WEST  loc -151,299  DistToNext 39.597980
    Speed 8, FLAG 1
     time  0.00   tot   inf
   [15]     qtv    move FORWARD   dir SOUTH_WEST  loc -179,271  DistToNext 0.000000
    Speed 5, FLAG 1
     time 14.26   tot   inf
   [16]     qtv    move STBD_TURN   dir WEST  loc -179,271  DistToNext 40.000000
    Speed 0, FLAG 1
     time  0.00   tot   inf
   [17]     qtv    move FORWARD   dir WEST  loc -219,271  DistToNext 0.000000
    Speed 2, FLAG 1
     time 36.00   tot   inf
   [18]     qtv    move STBD_TURN   dir NORTH_WEST  loc -219,271  DistToNext 41.012192
    Speed 2, FLAG 1
     time  0.00   tot   inf
   [19]     qtv    move FORWARD   dir NORTH_WEST  loc -248,300  DistToNext 0.000000
    Speed 2, FLAG 1
     time 36.91   tot   inf
   [20]     qtv    move STBD_TURN   dir NORTH  loc -248,300  DistToNext 0.000000
    Speed 2, FLAG 1
     time  0.00   tot   inf
   [21]     qtv    move STBD_TURN   dir NORTH_EAST  loc -248,300  DistToNext 41.012192
    Speed 0, FLAG 1
     time  0.00   tot   inf
   [22]     qtv    move FORWARD   dir NORTH_EAST  loc -219,329  DistToNext 0.000000
    Speed 5, FLAG 1
     time 14.76   tot   inf
   [23]     qtv    move STBD_TURN   dir EAST  loc -219,329  DistToNext 40.000000
    Speed 5, FLAG 1
     time  0.00   tot   inf
   [24]     qtv    move FORWARD   dir EAST  loc -179,329  DistToNext 0.000000
    Speed 8, FLAG 1
     time  9.00   tot   inf
   [25]     qtv    move PORT_TURN   dir NORTH_EAST  loc -179,329  DistToNext 41.012192
    Speed 0, FLAG 1
     time  0.00   tot   inf
   [26]     qtv    move FORWARD   dir NORTH_EAST  loc -150,358  DistToNext 0.000000
    Speed 5, FLAG 1
     time 14.76   tot   inf
   [27]     qtv    move PORT_TURN   dir NORTH  loc -150,358  DistToNext 40.000000
    Speed 5, FLAG 1
     time  0.00   tot   inf
   [28]     qtv    move FORWARD   dir NORTH  loc -150,398  DistToNext 0.000000
    Speed 2, FLAG 1
     time 36.00   tot   inf
   [29]     qtv    move PORT_TURN   dir NORTH_WEST  loc -150,398  DistToNext 0.000000
    Speed 2, FLAG 1
     time  0.00   tot   inf
   [30]     qtv    move PORT_TURN   dir WEST  loc -150,398  DistToNext 40.000000
    Speed 0, FLAG 1
     time  0.00   tot   inf
   [31]     qtv    move FORWARD   dir WEST  loc -190,398  DistToNext 0.000000
    Speed 2, FLAG 1
     time 36.00   tot   inf
   [32]     qtv    move STBD_TURN   dir NORTH_WEST  loc -190,398  DistToNext -inf
    Speed 2, FLAG 1
     time  0.00   tot   inf
   [33]     qtv    move FORWARD   dir NORTH_WEST  loc 2147483458,-2147483250  DistToNext 0.000000
    Speed -1, FLAG 1
     time  -inf   tot  -nan
   [34]     qtv    move PORT_TURN   dir WEST  loc 2147483458,-2147483250  DistToNext -inf
    Speed 0, FLAG 1
     time  0.00   tot  -nan
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir EAST  loc 1255,-659  DistToNext 0.000000
    Speed 6, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move STBD_TURN   dir SOUTH_EAST  loc 1255,-659  DistToNext 499.217377
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move FORWARD   dir SOUTH_EAST  loc 1608,-1012  DistToNext 0.000000
    Speed 5, FLAG 1
     time 179.72   tot 179.72
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir SOUTH_WEST  loc 489,-313  DistToNext 0.000000
    Speed 4, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move STBD_TURN   dir WEST  loc 489,-313  DistToNext 60.000000
    Speed 4, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move FORWARD   dir WEST  loc 429,-313  DistToNext 0.000000
    Speed 2, FLAG 1
     time 54.00   tot 54.00
   [ 3]     qtv    move STBD_TURN   dir NORTH_WEST  loc 429,-313  DistToNext 60.811184
    Speed 2, FLAG 1
     time  0.00   tot 54.00
   [ 4]     qtv    move FORWARD   dir NORTH_WEST  loc 386,-270  DistToNext 0.000000
    Speed 2, FLAG 1
     time 54.73   tot 108.73
   [ 5]     qtv    move STBD_TURN   dir NORTH  loc 386,-270  DistToNext 0.000000
    Speed 2, FLAG 1
     time  0.00   tot 108.73
   [ 6]     qtv    move STBD_TURN   dir NORTH_EAST  loc 386,-270  DistToNext 60.811184
    Speed 0, FLAG 1
     time  0.00   tot 108.73
   [ 7]     qtv    move FORWARD   dir NORTH_EAST  loc 429,-227  DistToNext 0.000000
    Speed 4, FLAG 1
     time 27.36   tot 136.09
   [ 8]     qtv    move PORT_TURN   dir NORTH  loc 429,-227  DistToNext 48.000000
    Speed 4, FLAG 1
     time  0.00   tot 136.09
   [ 9]     qtv    move FORWARD   dir NORTH  loc 429,-179  DistToNext 37.000000
    Speed 2, FLAG 1
     time 43.20   tot 179.29
   [10]     qtv    move FORWARD   dir NORTH  loc 429,-216  DistToNext 0.000000
    Speed 2, FLAG 2
     time 33.30   tot 212.59
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir WEST  loc -80,567  DistToNext 0.000000
    Speed 2, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move PORT_TURN   dir SOUTH_WEST  loc -80,567  DistToNext 0.000000
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move STBD_TURN   dir WEST  loc -80,567  DistToNext 60.000000
    Speed 2, FLAG 1
     time  0.00   tot  0.00
   [ 3]     qtv    move FORWARD   dir WEST  loc -140,567  DistToNext 0.000000
    Speed 2, FLAG 1
     time 54.00   tot 54.00
   [ 4]     qtv    move STBD_TURN   dir NORTH_WEST  loc -140,567  DistToNext 60.811184
    Speed 2, FLAG 1
     time  0.00   tot 54.00
   [ 5]     qtv    move FORWARD   dir NORTH_WEST  loc -183,610  DistToNext 0.000000
    Speed 2, FLAG 1
     time 54.73   tot 108.73
   [ 6]     qtv    move STBD_TURN   dir NORTH  loc -183,610  DistToNext 0.000000
    Speed 2, FLAG 1
     time  0.00   tot 108.73
   [ 7]     qtv    move STBD_TURN   dir NORTH_EAST  loc -183,610  DistToNext 60.811184
    Speed 0, FLAG 1
     time  0.00   tot 108.73
   [ 8]     qtv    move FORWARD   dir NORTH_EAST  loc -140,653  DistToNext 0.000000
    Speed 4, FLAG 1
     time 27.36   tot 136.09
   [ 9]     qtv    move PORT_TURN   dir NORTH  loc -140,653  DistToNext 48.000000
    Speed 4, FLAG 1
     time  0.00   tot 136.09
   [10]     qtv    move FORWARD   dir NORTH  loc -140,701  DistToNext 37.000000
    Speed 2, FLAG 1
     time 43.20   tot 179.29
   [11]     qtv    move FORWARD   dir NORTH  loc -140,664  DistToNext 0.000000
    Speed 2, FLAG 2
     time 33.30   tot 212.59
  End Path <===
* ==> Start Path
   [ 0]     qtv    move PORT_TURN   dir WEST  loc 459,343  DistToNext 60.000000
    Speed 2, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir WEST  loc 399,343  DistToNext 0.000000
    Speed 2, FLAG 1
     time 54.00   tot 54.00
   [ 2]     qtv    move PORT_TURN   dir SOUTH_WEST  loc 399,343  DistToNext 59.396969
    Speed 0, FLAG 1
     time  0.00   tot 54.00
   [ 3]     qtv    move FORWARD   dir SOUTH_WEST  loc 357,301  DistToNext 0.000000
    Speed 4, FLAG 1
     time 26.73   tot 80.73
   [ 4]     qtv    move PORT_TURN   dir SOUTH  loc 357,301  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot 80.73
   [ 5]     qtv    move FORWARD   dir SOUTH  loc 357,241  DistToNext 0.000000
    Speed 6, FLAG 1
     time 18.00   tot 98.73
   [ 6]     qtv    move PORT_TURN   dir SOUTH_EAST  loc 357,241  DistToNext 59.396969
    Speed 0, FLAG 1
     time  0.00   tot 98.73
   [ 7]     qtv    move FORWARD   dir SOUTH_EAST  loc 399,199  DistToNext 0.000000
    Speed 5, FLAG 1
     time 21.38   tot 120.11
   [ 8]     qtv    move PORT_TURN   dir EAST  loc 399,199  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot 120.11
   [ 9]     qtv    move FORWARD   dir EAST  loc 459,199  DistToNext 0.000000
    Speed 6, FLAG 1
     time 18.00   tot 138.11
   [10]     qtv    move PORT_TURN   dir NORTH_EAST  loc 459,199  DistToNext 91.923882
    Speed 0, FLAG 1
     time  0.00   tot 138.11
   [11]     qtv    move FORWARD   dir NORTH_EAST  loc 524,264  DistToNext 0.000000
    Speed 4, FLAG 1
     time 41.37   tot 179.48
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir SOUTH_WEST  loc 287,-307  DistToNext 0.000000
    Speed 4, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move STBD_TURN   dir WEST  loc 287,-307  DistToNext 60.000000
    Speed 4, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move FORWARD   dir WEST  loc 227,-307  DistToNext 0.000000
    Speed 2, FLAG 1
     time 54.00   tot 54.00
   [ 3]     qtv    move STBD_TURN   dir NORTH_WEST  loc 227,-307  DistToNext 60.811184
    Speed 2, FLAG 1
     time  0.00   tot 54.00
   [ 4]     qtv    move FORWARD   dir NORTH_WEST  loc 184,-264  DistToNext 0.000000
    Speed 2, FLAG 1
     time 54.73   tot 108.73
   [ 5]     qtv    move STBD_TURN   dir NORTH  loc 184,-264  DistToNext 0.000000
    Speed 2, FLAG 1
     time  0.00   tot 108.73
   [ 6]     qtv    move STBD_TURN   dir NORTH_EAST  loc 184,-264  DistToNext 60.811184
    Speed 0, FLAG 1
     time  0.00   tot 108.73
   [ 7]     qtv    move FORWARD   dir NORTH_EAST  loc 227,-221  DistToNext 0.000000
    Speed 4, FLAG 1
     time 27.36   tot 136.09
   [ 8]     qtv    move PORT_TURN   dir NORTH  loc 227,-221  DistToNext 48.000000
    Speed 4, FLAG 1
     time  0.00   tot 136.09
   [ 9]     qtv    move FORWARD   dir NORTH  loc 227,-173  DistToNext 37.000000
    Speed 2, FLAG 1
     time 43.20   tot 179.29
   [10]     qtv    move FORWARD   dir NORTH  loc 227,-210  DistToNext 0.000000
    Speed 2, FLAG 2
     time 33.30   tot 212.59
  End Path <===
* ==> Start Path
   [ 0]     qtv    move STBD_TURN   dir NORTH  loc 345,565  DistToNext 60.000000
    Speed 2, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir NORTH  loc 345,625  DistToNext 0.000000
    Speed 2, FLAG 1
     time 54.00   tot 54.00
   [ 2]     qtv    move STBD_TURN   dir NORTH_EAST  loc 345,625  DistToNext 59.396969
    Speed 0, FLAG 1
     time  0.00   tot 54.00
   [ 3]     qtv    move FORWARD   dir NORTH_EAST  loc 387,667  DistToNext 0.000000
    Speed 4, FLAG 1
     time 26.73   tot 80.73
   [ 4]     qtv    move STBD_TURN   dir EAST  loc 387,667  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot 80.73
   [ 5]     qtv    move FORWARD   dir EAST  loc 447,667  DistToNext 0.000000
    Speed 6, FLAG 1
     time 18.00   tot 98.73
   [ 6]     qtv    move STBD_TURN   dir SOUTH_EAST  loc 447,667  DistToNext 223.445740
    Speed 0, FLAG 1
     time  0.00   tot 98.73
   [ 7]     qtv    move FORWARD   dir SOUTH_EAST  loc 605,509  DistToNext 0.000000
    Speed 5, FLAG 1
     time 80.44   tot 179.17
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir SOUTH_WEST  loc 135,-57  DistToNext 0.000000
    Speed 4, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move STBD_TURN   dir WEST  loc 135,-57  DistToNext 60.000000
    Speed 4, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move FORWARD   dir WEST  loc 75,-57  DistToNext 0.000000
    Speed 2, FLAG 1
     time 54.00   tot 54.00
   [ 3]     qtv    move STBD_TURN   dir NORTH_WEST  loc 75,-57  DistToNext 60.811184
    Speed 2, FLAG 1
     time  0.00   tot 54.00
   [ 4]     qtv    move FORWARD   dir NORTH_WEST  loc 32,-14  DistToNext 0.000000
    Speed 2, FLAG 1
     time 54.73   tot 108.73
   [ 5]     qtv    move STBD_TURN   dir NORTH  loc 32,-14  DistToNext 0.000000
    Speed 2, FLAG 1
     time  0.00   tot 108.73
   [ 6]     qtv    move STBD_TURN   dir NORTH_EAST  loc 32,-14  DistToNext 60.811184
    Speed 0, FLAG 1
     time  0.00   tot 108.73
   [ 7]     qtv    move FORWARD   dir NORTH_EAST  loc 75,29  DistToNext 0.000000
    Speed 4, FLAG 1
     time 27.36   tot 136.09
   [ 8]     qtv    move PORT_TURN   dir NORTH  loc 75,29  DistToNext 48.000000
    Speed 4, FLAG 1
     time  0.00   tot 136.09
   [ 9]     qtv    move FORWARD   dir NORTH  loc 75,77  DistToNext 37.000000
    Speed 2, FLAG 1
     time 43.20   tot 179.29
   [10]     qtv    move FORWARD   dir NORTH  loc 75,40  DistToNext 0.000000
    Speed 2, FLAG 2
     time 33.30   tot 212.59
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir NORTH_WEST  loc 1721,-1249  DistToNext 50.000000
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir NORTH_WEST  loc 1756,-1284  DistToNext 0.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
   [ 2]     qtv    move PORT_TURN   dir WEST  loc 1756,-1284  DistToNext 50.000000
    Speed 0, FLAG 1
     time  0.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move PORT_TURN   dir WEST  loc 1521,-1185  DistToNext 40.000000
    Speed 2, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir WEST  loc 1481,-1185  DistToNext 0.000000
    Speed 2, FLAG 1
     time 36.00   tot 36.00
   [ 2]     qtv    move PORT_TURN   dir SOUTH_WEST  loc 1481,-1185  DistToNext 475.175751
    Speed 0, FLAG 1
     time  0.00   tot 36.00
   [ 3]     qtv    move FORWARD   dir SOUTH_WEST  loc 1145,-1521  DistToNext 0.000000
    Speed 6, FLAG 1
     time 142.55   tot 178.55
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir WEST  loc 2115,-951  DistToNext 0.000000
    Speed 2, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move PORT_TURN   dir SOUTH_WEST  loc 2115,-951  DistToNext 59.396969
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move FORWARD   dir SOUTH_WEST  loc 2073,-993  DistToNext 0.000000
    Speed 4, FLAG 1
     time 26.73   tot 26.73
   [ 3]     qtv    move PORT_TURN   dir SOUTH  loc 2073,-993  DistToNext 120.000000
    Speed 0, FLAG 1
     time  0.00   tot 26.73
   [ 4]     qtv    move FORWARD   dir SOUTH  loc 2073,-1113  DistToNext 0.000000
    Speed 6, FLAG 1
     time 36.00   tot 62.73
   [ 5]     qtv    move PORT_TURN   dir SOUTH_EAST  loc 2073,-1113  DistToNext 118.793938
    Speed 0, FLAG 1
     time  0.00   tot 62.73
   [ 6]     qtv    move FORWARD   dir SOUTH_EAST  loc 2157,-1197  DistToNext 0.000000
    Speed 5, FLAG 1
     time 42.77   tot 105.49
   [ 7]     qtv    move PORT_TURN   dir EAST  loc 2157,-1197  DistToNext 120.000000
    Speed 0, FLAG 1
     time  0.00   tot 105.49
   [ 8]     qtv    move FORWARD   dir EAST  loc 2277,-1197  DistToNext 0.000000
    Speed 6, FLAG 1
     time 36.00   tot 141.49
   [ 9]     qtv    move PORT_TURN   dir NORTH_EAST  loc 2277,-1197  DistToNext 83.438599
    Speed 0, FLAG 1
     time  0.00   tot 141.49
   [10]     qtv    move FORWARD   dir NORTH_EAST  loc 2336,-1138  DistToNext 0.000000
    Speed 4, FLAG 1
     time 37.55   tot 179.04
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir SOUTH_WEST  loc 1952,-996  DistToNext 0.000000
    Speed 4, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move PORT_TURN   dir SOUTH  loc 1952,-996  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move FORWARD   dir SOUTH  loc 1952,-1056  DistToNext 0.000000
    Speed 6, FLAG 1
     time 18.00   tot 18.00
   [ 3]     qtv    move PORT_TURN   dir SOUTH_EAST  loc 1952,-1056  DistToNext 118.793938
    Speed 0, FLAG 1
     time  0.00   tot 18.00
   [ 4]     qtv    move FORWARD   dir SOUTH_EAST  loc 2036,-1140  DistToNext 0.000000
    Speed 5, FLAG 1
     time 42.77   tot 60.77
   [ 5]     qtv    move STBD_TURN   dir SOUTH  loc 2036,-1140  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot 60.77
   [ 6]     qtv    move FORWARD   dir SOUTH  loc 2036,-1200  DistToNext 0.000000
    Speed 6, FLAG 1
     time 18.00   tot 78.77
   [ 7]     qtv    move STBD_TURN   dir SOUTH_WEST  loc 2036,-1200  DistToNext 60.811184
    Speed 6, FLAG 1
     time  0.00   tot 78.77
   [ 8]     qtv    move FORWARD   dir SOUTH_WEST  loc 1993,-1243  DistToNext 0.000000
    Speed 4, FLAG 1
     time 27.36   tot 106.13
   [ 9]     qtv    move STBD_TURN   dir WEST  loc 1993,-1243  DistToNext 0.000000
    Speed 4, FLAG 1
     time  0.00   tot 106.13
   [10]     qtv    move STBD_TURN   dir NORTH_WEST  loc 1993,-1243  DistToNext 60.811184
    Speed 0, FLAG 1
     time  0.00   tot 106.13
   [11]     qtv    move FORWARD   dir NORTH_WEST  loc 1950,-1200  DistToNext 0.000000
    Speed 4, FLAG 1
     time 27.36   tot 133.49
   [12]     qtv    move STBD_TURN   dir NORTH  loc 1950,-1200  DistToNext 120.000000
    Speed 4, FLAG 1
     time  0.00   tot 133.49
   [13]     qtv    move FORWARD   dir NORTH  loc 1950,-1080  DistToNext 0.000000
    Speed 2, FLAG 1
     time 108.00   tot 241.49
   [14]     qtv    move PORT_TURN   dir NORTH_WEST  loc 1950,-1080  DistToNext 60.811184
    Speed 0, FLAG 1
     time  0.00   tot 241.49
   [15]     qtv    move FORWARD   dir NORTH_WEST  loc 1907,-1037  DistToNext 0.000000
    Speed 0, FLAG 1
     time   inf   tot   inf
   [16]     qtv    move PORT_TURN   dir WEST  loc 1907,-1037  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot   inf
   [17]     qtv    move FORWARD   dir WEST  loc 1847,-1037  DistToNext 0.000000
    Speed 2, FLAG 1
     time 54.00   tot   inf
   [18]     qtv    move PORT_TURN   dir SOUTH_WEST  loc 1847,-1037  DistToNext 0.000000
    Speed 2, FLAG 1
     time  0.00   tot   inf
   [19]     qtv    move PORT_TURN   dir SOUTH  loc 1847,-1037  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot   inf
   [20]     qtv    move FORWARD   dir SOUTH  loc 1847,-1097  DistToNext 0.000000
    Speed 6, FLAG 1
     time 18.00   tot   inf
   [21]     qtv    move STBD_TURN   dir SOUTH_WEST  loc 1847,-1097  DistToNext 22.627417
    Speed 6, FLAG 1
     time  0.00   tot   inf
   [22]     qtv    move FORWARD   dir SOUTH_WEST  loc 1831,-1113  DistToNext 12.727922
    Speed 4, FLAG 1
     time 10.18   tot   inf
   [23]     qtv    move FORWARD   dir SOUTH_WEST  loc 1822,-1122  DistToNext 0.000000
    Speed 4, FLAG 2
     time  5.73   tot   inf
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir NORTH  loc 1354,-795  DistToNext 0.000000
    Speed 2, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move STBD_TURN   dir NORTH_EAST  loc 1354,-795  DistToNext 59.396969
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move FORWARD   dir NORTH_EAST  loc 1396,-753  DistToNext 0.000000
    Speed 4, FLAG 1
     time 26.73   tot 26.73
   [ 3]     qtv    move STBD_TURN   dir EAST  loc 1396,-753  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot 26.73
   [ 4]     qtv    move FORWARD   dir EAST  loc 1456,-753  DistToNext 0.000000
    Speed 6, FLAG 1
     time 18.00   tot 44.73
   [ 5]     qtv    move STBD_TURN   dir SOUTH_EAST  loc 1456,-753  DistToNext 118.793938
    Speed 0, FLAG 1
     time  0.00   tot 44.73
   [ 6]     qtv    move FORWARD   dir SOUTH_EAST  loc 1540,-837  DistToNext 0.000000
    Speed 5, FLAG 1
     time 42.77   tot 87.49
   [ 7]     qtv    move STBD_TURN   dir SOUTH  loc 1540,-837  DistToNext 120.000000
    Speed 0, FLAG 1
     time  0.00   tot 87.49
   [ 8]     qtv    move FORWARD   dir SOUTH  loc 1540,-957  DistToNext 0.000000
    Speed 6, FLAG 1
     time 36.00   tot 123.49
   [ 9]     qtv    move STBD_TURN   dir SOUTH_WEST  loc 1540,-957  DistToNext 118.793938
    Speed 0, FLAG 1
     time  0.00   tot 123.49
   [10]     qtv    move FORWARD   dir SOUTH_WEST  loc 1456,-1041  DistToNext 0.000000
    Speed 4, FLAG 1
     time 53.46   tot 176.95
   [11]     qtv    move STBD_TURN   dir WEST  loc 1456,-1041  DistToNext 2.000000
    Speed 0, FLAG 1
     time  0.00   tot 176.95
   [12]     qtv    move FORWARD   dir WEST  loc 1454,-1041  DistToNext 55.000000
    Speed 2, FLAG 1
     time  1.80   tot 178.75
   [13]     qtv    move FORWARD   dir WEST  loc 1399,-1041  DistToNext 0.000000
    Speed 2, FLAG 2
     time 49.50   tot 228.25
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir NORTH  loc 1535,-629  DistToNext 0.000000
    Speed 2, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move STBD_TURN   dir NORTH_EAST  loc 1535,-629  DistToNext 69.296463
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move FORWARD   dir NORTH_EAST  loc 1584,-580  DistToNext 0.000000
    Speed 4, FLAG 1
     time 31.18   tot 31.18
   [ 3]     qtv    move STBD_TURN   dir EAST  loc 1584,-580  DistToNext 70.000000
    Speed 0, FLAG 1
     time  0.00   tot 31.18
   [ 4]     qtv    move FORWARD   dir EAST  loc 1654,-580  DistToNext 0.000000
    Speed 6, FLAG 1
     time 21.00   tot 52.18
   [ 5]     qtv    move STBD_TURN   dir SOUTH_EAST  loc 1654,-580  DistToNext 138.592926
    Speed 0, FLAG 1
     time  0.00   tot 52.18
   [ 6]     qtv    move FORWARD   dir SOUTH_EAST  loc 1752,-678  DistToNext 0.000000
    Speed 5, FLAG 1
     time 49.89   tot 102.08
   [ 7]     qtv    move STBD_TURN   dir SOUTH  loc 1752,-678  DistToNext 140.000000
    Speed 0, FLAG 1
     time  0.00   tot 102.08
   [ 8]     qtv    move FORWARD   dir SOUTH  loc 1752,-818  DistToNext 0.000000
    Speed 6, FLAG 1
     time 42.00   tot 144.08
   [ 9]     qtv    move STBD_TURN   dir SOUTH_WEST  loc 1752,-818  DistToNext 77.781746
    Speed 0, FLAG 1
     time  0.00   tot 144.08
   [10]     qtv    move FORWARD   dir SOUTH_WEST  loc 1697,-873  DistToNext 0.000000
    Speed 4, FLAG 1
     time 35.00   tot 179.08
  End Path <===
* ==> Start Path
   [ 0]     qtv    move NO_DIRECTION   dir SOUTH_WEST  loc 1902,-1016  DistToNext 59.396969
    Speed 3, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir SOUTH_WEST  loc 1860,-1058  DistToNext 0.000000
    Speed 3, FLAG 1
     time 35.64   tot 35.64
   [ 2]     qtv    move PORT_TURN   dir SOUTH  loc 1860,-1058  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot 35.64
   [ 3]     qtv    move FORWARD   dir SOUTH  loc 1860,-1118  DistToNext 0.000000
    Speed 5, FLAG 1
     time 21.60   tot 57.24
   [ 4]     qtv    move PORT_TURN   dir SOUTH_EAST  loc 1860,-1118  DistToNext 118.793938
    Speed 0, FLAG 1
     time  0.00   tot 57.24
   [ 5]     qtv    move FORWARD   dir SOUTH_EAST  loc 1944,-1202  DistToNext 0.000000
    Speed 4, FLAG 1
     time 53.46   tot 110.69
   [ 6]     qtv    move STBD_TURN   dir SOUTH  loc 1944,-1202  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot 110.69
   [ 7]     qtv    move FORWARD   dir SOUTH  loc 1944,-1262  DistToNext 0.000000
    Speed 5, FLAG 1
     time 21.60   tot 132.29
   [ 8]     qtv    move STBD_TURN   dir SOUTH_WEST  loc 1944,-1262  DistToNext 60.811184
    Speed 5, FLAG 1
     time  0.00   tot 132.29
   [ 9]     qtv    move FORWARD   dir SOUTH_WEST  loc 1901,-1305  DistToNext 0.000000
    Speed 3, FLAG 1
     time 36.49   tot 168.78
   [10]     qtv    move STBD_TURN   dir WEST  loc 1901,-1305  DistToNext 0.000000
    Speed 3, FLAG 1
     time  0.00   tot 168.78
   [11]     qtv    move STBD_TURN   dir NORTH_WEST  loc 1901,-1305  DistToNext 60.811184
    Speed 0, FLAG 1
     time  0.00   tot 168.78
   [12]     qtv    move FORWARD   dir NORTH_WEST  loc 1858,-1262  DistToNext 0.000000
    Speed 3, FLAG 1
     time 36.49   tot 205.27
   [13]     qtv    move STBD_TURN   dir NORTH  loc 1858,-1262  DistToNext 38.000000
    Speed 3, FLAG 1
     time  0.00   tot 205.27
   [14]     qtv    move FORWARD   dir NORTH  loc 1858,-1224  DistToNext 17.000000
    Speed 1, FLAG 1
     time 68.40   tot 273.67
   [15]     qtv    move FORWARD   dir NORTH  loc 1858,-1241  DistToNext 0.000000
    Speed 1, FLAG 2
     time 30.60   tot 304.27
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir SOUTH_EAST  loc -558,238  DistToNext 499.217377
    Speed 5, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir SOUTH_EAST  loc -205,-115  DistToNext 0.000000
    Speed 5, FLAG 1
     time 179.72   tot 179.72
  End Path <===
* ==> Start Path
   [ 0]     qtv    move STBD_TURN   dir NORTH_WEST  loc -190,398  DistToNext 50.000000
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir NORTH_WEST  loc -155,363  DistToNext 0.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
   [ 2]     qtv    move PORT_TURN   dir WEST  loc -155,363  DistToNext 50.000000
    Speed 0, FLAG 1
     time  0.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir SOUTH_EAST  loc 1255,-659  DistToNext 499.217377
    Speed 5, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir SOUTH_EAST  loc 1608,-1012  DistToNext 0.000000
    Speed 5, FLAG 1
     time 179.72   tot 179.72
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir NORTH  loc 429,-179  DistToNext 0.000000
    Speed 2, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move STBD_TURN   dir NORTH_EAST  loc 429,-179  DistToNext 59.396969
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move FORWARD   dir NORTH_EAST  loc 471,-137  DistToNext 0.000000
    Speed 4, FLAG 1
     time 26.73   tot 26.73
   [ 3]     qtv    move STBD_TURN   dir EAST  loc 471,-137  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot 26.73
   [ 4]     qtv    move FORWARD   dir EAST  loc 531,-137  DistToNext 0.000000
    Speed 6, FLAG 1
     time 18.00   tot 44.73
   [ 5]     qtv    move STBD_TURN   dir SOUTH_EAST  loc 531,-137  DistToNext 118.793938
    Speed 0, FLAG 1
     time  0.00   tot 44.73
   [ 6]     qtv    move FORWARD   dir SOUTH_EAST  loc 615,-221  DistToNext 0.000000
    Speed 5, FLAG 1
     time 42.77   tot 87.49
   [ 7]     qtv    move STBD_TURN   dir SOUTH  loc 615,-221  DistToNext 120.000000
    Speed 0, FLAG 1
     time  0.00   tot 87.49
   [ 8]     qtv    move FORWARD   dir SOUTH  loc 615,-341  DistToNext 0.000000
    Speed 6, FLAG 1
     time 36.00   tot 123.49
   [ 9]     qtv    move STBD_TURN   dir SOUTH_WEST  loc 615,-341  DistToNext 118.793938
    Speed 0, FLAG 1
     time  0.00   tot 123.49
   [10]     qtv    move FORWARD   dir SOUTH_WEST  loc 531,-425  DistToNext 0.000000
    Speed 4, FLAG 1
     time 53.46   tot 176.95
   [11]     qtv    move STBD_TURN   dir WEST  loc 531,-425  DistToNext 2.000000
    Speed 0, FLAG 1
     time  0.00   tot 176.95
   [12]     qtv    move FORWARD   dir WEST  loc 529,-425  DistToNext 55.000000
    Speed 2, FLAG 1
     time  1.80   tot 178.75
   [13]     qtv    move FORWARD   dir WEST  loc 474,-425  DistToNext 0.000000
    Speed 2, FLAG 2
     time 49.50   tot 228.25
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir NORTH  loc -140,701  DistToNext 0.000000
    Speed 2, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move STBD_TURN   dir NORTH_EAST  loc -140,701  DistToNext 59.396969
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move FORWARD   dir NORTH_EAST  loc -98,743  DistToNext 0.000000
    Speed 4, FLAG 1
     time 26.73   tot 26.73
   [ 3]     qtv    move STBD_TURN   dir EAST  loc -98,743  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot 26.73
   [ 4]     qtv    move FORWARD   dir EAST  loc -38,743  DistToNext 0.000000
    Speed 6, FLAG 1
     time 18.00   tot 44.73
   [ 5]     qtv    move STBD_TURN   dir SOUTH_EAST  loc -38,743  DistToNext 374.766602
    Speed 0, FLAG 1
     time  0.00   tot 44.73
   [ 6]     qtv    move FORWARD   dir SOUTH_EAST  loc 227,478  DistToNext 0.000000
    Speed 5, FLAG 1
     time 134.91   tot 179.64
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir NORTH_EAST  loc 524,264  DistToNext 0.000000
    Speed 4, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move STBD_TURN   dir EAST  loc 524,264  DistToNext 120.000000
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move FORWARD   dir EAST  loc 644,264  DistToNext 0.000000
    Speed 6, FLAG 1
     time 36.00   tot 36.00
   [ 3]     qtv    move PORT_TURN   dir NORTH_EAST  loc 644,264  DistToNext 60.811184
    Speed 0, FLAG 1
     time  0.00   tot 36.00
   [ 4]     qtv    move FORWARD   dir NORTH_EAST  loc 687,307  DistToNext 0.000000
    Speed 4, FLAG 1
     time 27.36   tot 63.36
   [ 5]     qtv    move PORT_TURN   dir NORTH  loc 687,307  DistToNext 60.000000
    Speed 4, FLAG 1
     time  0.00   tot 63.36
   [ 6]     qtv    move FORWARD   dir NORTH  loc 687,367  DistToNext 0.000000
    Speed 2, FLAG 1
     time 54.00   tot 117.36
   [ 7]     qtv    move PORT_TURN   dir NORTH_WEST  loc 687,367  DistToNext 0.000000
    Speed 2, FLAG 1
     time  0.00   tot 117.36
   [ 8]     qtv    move PORT_TURN   dir WEST  loc 687,367  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot 117.36
   [ 9]     qtv    move FORWARD   dir WEST  loc 627,367  DistToNext 0.000000
    Speed 2, FLAG 1
     time 54.00   tot 171.36
   [10]     qtv    move STBD_TURN   dir NORTH_WEST  loc 627,367  DistToNext 2.398605
    Speed 2, FLAG 1
     time  0.00   tot 171.36
   [11]     qtv    move FORWARD   dir NORTH_WEST  loc 628,366  DistToNext 2.398605
    Speed -1, FLAG 1
     time  8.63   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir NORTH  loc 227,-173  DistToNext 0.000000
    Speed 2, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move STBD_TURN   dir NORTH_EAST  loc 227,-173  DistToNext 59.396969
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move FORWARD   dir NORTH_EAST  loc 269,-131  DistToNext 0.000000
    Speed 4, FLAG 1
     time 26.73   tot 26.73
   [ 3]     qtv    move STBD_TURN   dir EAST  loc 269,-131  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot 26.73
   [ 4]     qtv    move FORWARD   dir EAST  loc 329,-131  DistToNext 0.000000
    Speed 6, FLAG 1
     time 18.00   tot 44.73
   [ 5]     qtv    move STBD_TURN   dir SOUTH_EAST  loc 329,-131  DistToNext 118.793938
    Speed 0, FLAG 1
     time  0.00   tot 44.73
   [ 6]     qtv    move FORWARD   dir SOUTH_EAST  loc 413,-215  DistToNext 0.000000
    Speed 5, FLAG 1
     time 42.77   tot 87.49
   [ 7]     qtv    move STBD_TURN   dir SOUTH  loc 413,-215  DistToNext 120.000000
    Speed 0, FLAG 1
     time  0.00   tot 87.49
   [ 8]     qtv    move FORWARD   dir SOUTH  loc 413,-335  DistToNext 0.000000
    Speed 6, FLAG 1
     time 36.00   tot 123.49
   [ 9]     qtv    move STBD_TURN   dir SOUTH_WEST  loc 413,-335  DistToNext 118.793938
    Speed 0, FLAG 1
     time  0.00   tot 123.49
   [10]     qtv    move FORWARD   dir SOUTH_WEST  loc 329,-419  DistToNext 0.000000
    Speed 4, FLAG 1
     time 53.46   tot 176.95
   [11]     qtv    move STBD_TURN   dir WEST  loc 329,-419  DistToNext 2.000000
    Speed 0, FLAG 1
     time  0.00   tot 176.95
   [12]     qtv    move FORWARD   dir WEST  loc 327,-419  DistToNext 55.000000
    Speed 2, FLAG 1
     time  1.80   tot 178.75
   [13]     qtv    move FORWARD   dir WEST  loc 272,-419  DistToNext 0.000000
    Speed 2, FLAG 2
     time 49.50   tot 228.25
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir SOUTH_EAST  loc 605,509  DistToNext 499.217377
    Speed 5, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move BACK_SAIL   dir SOUTH_EAST  loc 958,156  DistToNext 0.000000
    Speed 4, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move FORWARD   dir SOUTH_EAST  loc 958,156  DistToNext 0.000000
    Speed 4, FLAG 1
     time  0.00   tot  0.00
   [ 3]     qtv    move NO_DIRECTION   dir SOUTH_EAST  loc 958,156  DistToNext 0.000000
    Speed 0, FLAG 1
     time  0.00   tot  0.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir NORTH  loc 75,77  DistToNext 0.000000
    Speed 2, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move STBD_TURN   dir NORTH_EAST  loc 75,77  DistToNext 59.396969
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move FORWARD   dir NORTH_EAST  loc 117,119  DistToNext 0.000000
    Speed 4, FLAG 1
     time 26.73   tot 26.73
   [ 3]     qtv    move STBD_TURN   dir EAST  loc 117,119  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot 26.73
   [ 4]     qtv    move FORWARD   dir EAST  loc 177,119  DistToNext 0.000000
    Speed 6, FLAG 1
     time 18.00   tot 44.73
   [ 5]     qtv    move STBD_TURN   dir SOUTH_EAST  loc 177,119  DistToNext 118.793938
    Speed 0, FLAG 1
     time  0.00   tot 44.73
   [ 6]     qtv    move FORWARD   dir SOUTH_EAST  loc 261,35  DistToNext 0.000000
    Speed 5, FLAG 1
     time 42.77   tot 87.49
   [ 7]     qtv    move STBD_TURN   dir SOUTH  loc 261,35  DistToNext 120.000000
    Speed 0, FLAG 1
     time  0.00   tot 87.49
   [ 8]     qtv    move FORWARD   dir SOUTH  loc 261,-85  DistToNext 0.000000
    Speed 6, FLAG 1
     time 36.00   tot 123.49
   [ 9]     qtv    move STBD_TURN   dir SOUTH_WEST  loc 261,-85  DistToNext 118.793938
    Speed 0, FLAG 1
     time  0.00   tot 123.49
   [10]     qtv    move FORWARD   dir SOUTH_WEST  loc 177,-169  DistToNext 0.000000
    Speed 4, FLAG 1
     time 53.46   tot 176.95
   [11]     qtv    move STBD_TURN   dir WEST  loc 177,-169  DistToNext 2.000000
    Speed 0, FLAG 1
     time  0.00   tot 176.95
   [12]     qtv    move FORWARD   dir WEST  loc 175,-169  DistToNext 55.000000
    Speed 2, FLAG 1
     time  1.80   tot 178.75
   [13]     qtv    move FORWARD   dir WEST  loc 120,-169  DistToNext 0.000000
    Speed 2, FLAG 2
     time 49.50   tot 228.25
  End Path <===
* ==> Start Path
   [ 0]     qtv    move PORT_TURN   dir NORTH_WEST  loc 1756,-1284  DistToNext 39.597980
    Speed 2, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir NORTH_WEST  loc 1728,-1256  DistToNext 0.000000
    Speed 2, FLAG 1
     time 35.64   tot 35.64
   [ 2]     qtv    move STBD_TURN   dir NORTH  loc 1728,-1256  DistToNext 40.000000
    Speed 0, FLAG 1
     time  0.00   tot 35.64
   [ 3]     qtv    move FORWARD   dir NORTH  loc 1728,-1216  DistToNext 0.000000
    Speed 6, FLAG 1
     time 12.00   tot 47.64
   [ 4]     qtv    move STBD_TURN   dir NORTH_EAST  loc 1728,-1216  DistToNext 39.597980
    Speed 0, FLAG 1
     time  0.00   tot 47.64
   [ 5]     qtv    move FORWARD   dir NORTH_EAST  loc 1756,-1188  DistToNext 0.000000
    Speed 8, FLAG 1
     time  8.91   tot 56.55
   [ 6]     qtv    move STBD_TURN   dir EAST  loc 1756,-1188  DistToNext 478.000000
    Speed 0, FLAG 1
     time  0.00   tot 56.55
   [ 7]     qtv    move FORWARD   dir EAST  loc 2234,-1188  DistToNext 37.000000
    Speed 7, FLAG 1
     time 122.91   tot 179.46
   [ 8]     qtv    move FORWARD   dir EAST  loc 2197,-1188  DistToNext 0.000000
    Speed 7, FLAG 2
     time  9.51   tot 188.97
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir SOUTH_WEST  loc 1145,-1521  DistToNext 0.000000
    Speed 2, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move PORT_TURN   dir SOUTH  loc 1145,-1521  DistToNext 40.000000
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move FORWARD   dir SOUTH  loc 1145,-1561  DistToNext 0.000000
    Speed 5, FLAG 1
     time 14.40   tot 14.40
   [ 3]     qtv    move PORT_TURN   dir SOUTH_EAST  loc 1145,-1561  DistToNext 39.597980
    Speed 0, FLAG 1
     time  0.00   tot 14.40
   [ 4]     qtv    move FORWARD   dir SOUTH_EAST  loc 1173,-1589  DistToNext 0.000000
    Speed 7, FLAG 1
     time 10.18   tot 24.58
   [ 5]     qtv    move PORT_TURN   dir EAST  loc 1173,-1589  DistToNext 40.000000
    Speed 0, FLAG 1
     time  0.00   tot 24.58
   [ 6]     qtv    move FORWARD   dir EAST  loc 1213,-1589  DistToNext 0.000000
    Speed 6, FLAG 1
     time 12.00   tot 36.58
   [ 7]     qtv    move PORT_TURN   dir NORTH_EAST  loc 1213,-1589  DistToNext 39.597980
    Speed 0, FLAG 1
     time  0.00   tot 36.58
   [ 8]     qtv    move FORWARD   dir NORTH_EAST  loc 1241,-1561  DistToNext 0.000000
    Speed 7, FLAG 1
     time 10.18   tot 46.76
   [ 9]     qtv    move PORT_TURN   dir NORTH  loc 1241,-1561  DistToNext 40.000000
    Speed 0, FLAG 1
     time  0.00   tot 46.76
   [10]     qtv    move FORWARD   dir NORTH  loc 1241,-1521  DistToNext 0.000000
    Speed 5, FLAG 1
     time 14.40   tot 61.16
   [11]     qtv    move PORT_TURN   dir NORTH_WEST  loc 1241,-1521  DistToNext 39.597980
    Speed 0, FLAG 1
     time  0.00   tot 61.16
   [12]     qtv    move FORWARD   dir NORTH_WEST  loc 1213,-1493  DistToNext 0.000000
    Speed 2, FLAG 1
     time 35.64   tot 96.80
   [13]     qtv    move PORT_TURN   dir WEST  loc 1213,-1493  DistToNext 23.110317
    Speed 0, FLAG 1
     time  0.00   tot 96.80
   [14]     qtv    move FORWARD   dir WEST  loc 1236,-1493  DistToNext 23.110317
    Speed -1, FLAG 1
     time 83.20   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir NORTH_EAST  loc 2336,-1138  DistToNext 0.000000
    Speed 6, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move STBD_TURN   dir EAST  loc 2336,-1138  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move FORWARD   dir EAST  loc 2396,-1138  DistToNext 0.000000
    Speed 5, FLAG 1
     time 21.60   tot 21.60
   [ 3]     qtv    move STBD_TURN   dir SOUTH_EAST  loc 2396,-1138  DistToNext 118.793938
    Speed 0, FLAG 1
     time  0.00   tot 21.60
   [ 4]     qtv    move FORWARD   dir SOUTH_EAST  loc 2480,-1222  DistToNext 0.000000
    Speed 6, FLAG 1
     time 35.64   tot 57.24
   [ 5]     qtv    move STBD_TURN   dir SOUTH  loc 2480,-1222  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot 57.24
   [ 6]     qtv    move FORWARD   dir SOUTH  loc 2480,-1282  DistToNext 0.000000
    Speed 4, FLAG 1
     time 27.00   tot 84.24
   [ 7]     qtv    move STBD_TURN   dir SOUTH_WEST  loc 2480,-1282  DistToNext 60.811184
    Speed 4, FLAG 1
     time  0.00   tot 84.24
   [ 8]     qtv    move FORWARD   dir SOUTH_WEST  loc 2437,-1325  DistToNext 0.000000
    Speed 2, FLAG 1
     time 54.73   tot 138.97
   [ 9]     qtv    move STBD_TURN   dir WEST  loc 2437,-1325  DistToNext 0.000000
    Speed 2, FLAG 1
     time  0.00   tot 138.97
   [10]     qtv    move STBD_TURN   dir NORTH_WEST  loc 2437,-1325  DistToNext 60.811184
    Speed 0, FLAG 1
     time  0.00   tot 138.97
   [11]     qtv    move FORWARD   dir NORTH_WEST  loc 2394,-1282  DistToNext 0.000000
    Speed 2, FLAG 1
     time 54.73   tot 193.70
   [12]     qtv    move STBD_TURN   dir NORTH  loc 2394,-1282  DistToNext 120.000000
    Speed 2, FLAG 1
     time  0.00   tot 193.70
   [13]     qtv    move FORWARD   dir NORTH  loc 2394,-1162  DistToNext 0.000000
    Speed 4, FLAG 1
     time 54.00   tot 247.70
   [14]     qtv    move PORT_TURN   dir NORTH_WEST  loc 2394,-1162  DistToNext 60.811184
    Speed 0, FLAG 1
     time  0.00   tot 247.70
   [15]     qtv    move FORWARD   dir NORTH_WEST  loc 2351,-1119  DistToNext 0.000000
    Speed 2, FLAG 1
     time 54.73   tot 302.43
   [16]     qtv    move PORT_TURN   dir WEST  loc 2351,-1119  DistToNext 60.000000
    Speed 2, FLAG 1
     time  0.00   tot 302.43
   [17]     qtv    move FORWARD   dir WEST  loc 2291,-1119  DistToNext 0.000000
    Speed 2, FLAG 1
     time 54.00   tot 356.43
   [18]     qtv    move PORT_TURN   dir SOUTH_WEST  loc 2291,-1119  DistToNext 0.000000
    Speed 2, FLAG 1
     time  0.00   tot 356.43
   [19]     qtv    move PORT_TURN   dir SOUTH  loc 2291,-1119  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot 356.43
   [20]     qtv    move FORWARD   dir SOUTH  loc 2291,-1179  DistToNext 0.000000
    Speed 4, FLAG 1
     time 27.00   tot 383.43
   [21]     qtv    move STBD_TURN   dir SOUTH_WEST  loc 2291,-1179  DistToNext 74.953316
    Speed 4, FLAG 1
     time  0.00   tot 383.43
   [22]     qtv    move FORWARD   dir SOUTH_WEST  loc 2238,-1232  DistToNext 0.000000
    Speed 2, FLAG 1
     time 67.46   tot 450.88
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir NORTH_WEST  loc 1986,-1237  DistToNext 0.000000
    Speed 2, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move STBD_TURN   dir NORTH  loc 1986,-1237  DistToNext 0.000000
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move PORT_TURN   dir NORTH_WEST  loc 1986,-1237  DistToNext 60.811184
    Speed 2, FLAG 1
     time  0.00   tot  0.00
   [ 3]     qtv    move FORWARD   dir NORTH_WEST  loc 1943,-1194  DistToNext 0.000000
    Speed 2, FLAG 1
     time 54.73   tot 54.73
   [ 4]     qtv    move PORT_TURN   dir WEST  loc 1943,-1194  DistToNext 60.000000
    Speed 2, FLAG 1
     time  0.00   tot 54.73
   [ 5]     qtv    move FORWARD   dir WEST  loc 1883,-1194  DistToNext 0.000000
    Speed 2, FLAG 1
     time 54.00   tot 108.73
   [ 6]     qtv    move PORT_TURN   dir SOUTH_WEST  loc 1883,-1194  DistToNext 0.000000
    Speed 2, FLAG 1
     time  0.00   tot 108.73
   [ 7]     qtv    move PORT_TURN   dir SOUTH  loc 1883,-1194  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot 108.73
   [ 8]     qtv    move FORWARD   dir SOUTH  loc 1883,-1254  DistToNext 0.000000
    Speed 4, FLAG 1
     time 27.00   tot 135.73
   [ 9]     qtv    move PORT_TURN   dir SOUTH_EAST  loc 1883,-1254  DistToNext 118.793938
    Speed 4, FLAG 1
     time  0.00   tot 135.73
   [10]     qtv    move FORWARD   dir SOUTH_EAST  loc 1967,-1338  DistToNext 0.000000
    Speed 6, FLAG 1
     time 35.64   tot 171.37
   [11]     qtv    move STBD_TURN   dir SOUTH  loc 1967,-1338  DistToNext 18.000000
    Speed 0, FLAG 1
     time  0.00   tot 171.37
   [12]     qtv    move FORWARD   dir SOUTH  loc 1967,-1356  DistToNext 23.000000
    Speed 4, FLAG 1
     time  8.10   tot 179.47
   [13]     qtv    move FORWARD   dir SOUTH  loc 1967,-1379  DistToNext 0.000000
    Speed 4, FLAG 2
     time 10.35   tot 189.82
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir SOUTH  loc 1531,-909  DistToNext 120.000000
    Speed 4, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir SOUTH  loc 1531,-1029  DistToNext 0.000000
    Speed 4, FLAG 1
     time 54.00   tot 54.00
   [ 2]     qtv    move STBD_TURN   dir SOUTH_WEST  loc 1531,-1029  DistToNext 60.811184
    Speed 0, FLAG 1
     time  0.00   tot 54.00
   [ 3]     qtv    move FORWARD   dir SOUTH_WEST  loc 1488,-1072  DistToNext 0.000000
    Speed 2, FLAG 1
     time 54.73   tot 108.73
   [ 4]     qtv    move STBD_TURN   dir WEST  loc 1488,-1072  DistToNext 60.000000
    Speed 2, FLAG 1
     time  0.00   tot 108.73
   [ 5]     qtv    move FORWARD   dir WEST  loc 1428,-1072  DistToNext 0.000000
    Speed 2, FLAG 1
     time 54.00   tot 162.73
   [ 6]     qtv    move STBD_TURN   dir NORTH_WEST  loc 1428,-1072  DistToNext 0.000000
    Speed 2, FLAG 1
     time  0.00   tot 162.73
   [ 7]     qtv    move STBD_TURN   dir NORTH  loc 1428,-1072  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot 162.73
   [ 8]     qtv    move FORWARD   dir NORTH  loc 1428,-1012  DistToNext 0.000000
    Speed 4, FLAG 1
     time 27.00   tot 189.73
   [ 9]     qtv    move STBD_TURN   dir NORTH_EAST  loc 1428,-1012  DistToNext 118.793938
    Speed 4, FLAG 1
     time  0.00   tot 189.73
   [10]     qtv    move FORWARD   dir NORTH_EAST  loc 1512,-928  DistToNext 0.000000
    Speed 6, FLAG 1
     time 35.64   tot 225.37
   [11]     qtv    move PORT_TURN   dir NORTH  loc 1512,-928  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot 225.37
   [12]     qtv    move FORWARD   dir NORTH  loc 1512,-868  DistToNext 0.000000
    Speed 4, FLAG 1
     time 27.00   tot 252.37
   [13]     qtv    move PORT_TURN   dir NORTH_WEST  loc 1512,-868  DistToNext 60.811184
    Speed 4, FLAG 1
     time  0.00   tot 252.37
   [14]     qtv    move FORWARD   dir NORTH_WEST  loc 1469,-825  DistToNext 0.000000
    Speed 2, FLAG 1
     time 54.73   tot 307.10
   [15]     qtv    move PORT_TURN   dir WEST  loc 1469,-825  DistToNext 0.000000
    Speed 2, FLAG 1
     time  0.00   tot 307.10
   [16]     qtv    move PORT_TURN   dir SOUTH_WEST  loc 1469,-825  DistToNext 60.811184
    Speed 0, FLAG 1
     time  0.00   tot 307.10
   [17]     qtv    move FORWARD   dir SOUTH_WEST  loc 1426,-868  DistToNext 0.000000
    Speed 2, FLAG 1
     time 54.73   tot 361.83
   [18]     qtv    move STBD_TURN   dir WEST  loc 1426,-868  DistToNext -50.507881
    Speed 2, FLAG 1
     time  0.00   tot 361.83
   [19]     qtv    move FORWARD   dir WEST  loc 1376,-868  DistToNext 0.000000
    Speed -1, FLAG 1
     time -181.83   tot 180.00
   [20]     qtv    move PORT_TURN   dir SOUTH_WEST  loc 1376,-868  DistToNext -50.507881
    Speed 0, FLAG 1
     time  0.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir SOUTH_WEST  loc 1697,-873  DistToNext 0.000000
    Speed 2, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move BACK_SAIL   dir SOUTH  loc 1697,-873  DistToNext 140.000000
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move PORT_TURN   dir SOUTH  loc 1697,-873  DistToNext 140.000000
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 3]     qtv    move FORWARD   dir SOUTH  loc 1697,-1013  DistToNext 0.000000
    Speed 3, FLAG 1
     time 84.00   tot 84.00
   [ 4]     qtv    move PORT_TURN   dir SOUTH_EAST  loc 1697,-1013  DistToNext 138.592926
    Speed 0, FLAG 1
     time  0.00   tot 84.00
   [ 5]     qtv    move FORWARD   dir SOUTH_EAST  loc 1795,-1111  DistToNext 0.000000
    Speed 5, FLAG 1
     time 49.89   tot 133.89
   [ 6]     qtv    move PORT_TURN   dir EAST  loc 1795,-1111  DistToNext 46.000000
    Speed 0, FLAG 1
     time  0.00   tot 133.89
   [ 7]     qtv    move FORWARD   dir EAST  loc 1841,-1111  DistToNext 23.000000
    Speed 5, FLAG 1
     time 16.56   tot 150.45
   [ 8]     qtv    move FORWARD   dir EAST  loc 1818,-1111  DistToNext 0.000000
    Speed 5, FLAG 2
     time  8.28   tot 158.73
   [ 9]     qtv    move NO_DIRECTION   dir EAST  loc 1818,-1111  DistToNext 140.000000
    Speed 0, FLAG 1
     time  0.00   tot 158.73
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir SOUTH  loc 1866,-1139  DistToNext 120.000000
    Speed 3, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir SOUTH  loc 1866,-1259  DistToNext 0.000000
    Speed 3, FLAG 1
     time 72.00   tot 72.00
   [ 2]     qtv    move STBD_TURN   dir SOUTH_WEST  loc 1866,-1259  DistToNext 60.811184
    Speed 0, FLAG 1
     time  0.00   tot 72.00
   [ 3]     qtv    move FORWARD   dir SOUTH_WEST  loc 1823,-1302  DistToNext 0.000000
    Speed 1, FLAG 1
     time 109.46   tot 181.46
   [ 4]     qtv    move STBD_TURN   dir WEST  loc 1823,-1302  DistToNext 60.000000
    Speed 1, FLAG 1
     time  0.00   tot 181.46
   [ 5]     qtv    move FORWARD   dir WEST  loc 1763,-1302  DistToNext 0.000000
    Speed 1, FLAG 1
     time 108.00   tot 289.46
   [ 6]     qtv    move STBD_TURN   dir NORTH_WEST  loc 1763,-1302  DistToNext 0.000000
    Speed 1, FLAG 1
     time  0.00   tot 289.46
   [ 7]     qtv    move STBD_TURN   dir NORTH  loc 1763,-1302  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot 289.46
   [ 8]     qtv    move FORWARD   dir NORTH  loc 1763,-1242  DistToNext 0.000000
    Speed 3, FLAG 1
     time 36.00   tot 325.46
   [ 9]     qtv    move STBD_TURN   dir NORTH_EAST  loc 1763,-1242  DistToNext 118.793938
    Speed 3, FLAG 1
     time  0.00   tot 325.46
   [10]     qtv    move FORWARD   dir NORTH_EAST  loc 1847,-1158  DistToNext 0.000000
    Speed 5, FLAG 1
     time 42.77   tot 368.22
   [11]     qtv    move PORT_TURN   dir NORTH  loc 1847,-1158  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot 368.22
   [12]     qtv    move FORWARD   dir NORTH  loc 1847,-1098  DistToNext 0.000000
    Speed 3, FLAG 1
     time 36.00   tot 404.22
   [13]     qtv    move PORT_TURN   dir NORTH_WEST  loc 1847,-1098  DistToNext 60.811184
    Speed 3, FLAG 1
     time  0.00   tot 404.22
   [14]     qtv    move FORWARD   dir NORTH_WEST  loc 1804,-1055  DistToNext 0.000000
    Speed 1, FLAG 1
     time 109.46   tot 513.68
   [15]     qtv    move PORT_TURN   dir WEST  loc 1804,-1055  DistToNext 0.000000
    Speed 1, FLAG 1
     time  0.00   tot 513.68
   [16]     qtv    move PORT_TURN   dir SOUTH_WEST  loc 1804,-1055  DistToNext 60.811184
    Speed 0, FLAG 1
     time  0.00   tot 513.68
   [17]     qtv    move FORWARD   dir SOUTH_WEST  loc 1761,-1098  DistToNext 0.000000
    Speed 1, FLAG 1
     time 109.46   tot 623.14
   [18]     qtv    move STBD_TURN   dir WEST  loc 1761,-1098  DistToNext -123.096153
    Speed 1, FLAG 1
     time  0.00   tot 623.14
   [19]     qtv    move FORWARD   dir WEST  loc 1638,-1098  DistToNext 0.000000
    Speed -1, FLAG 1
     time -443.15   tot 180.00
   [20]     qtv    move PORT_TURN   dir SOUTH_WEST  loc 1638,-1098  DistToNext -123.096153
    Speed 0, FLAG 1
     time  0.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir SOUTH_EAST  loc -205,-115  DistToNext 0.000000
    Speed 6, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move STBD_TURN   dir SOUTH  loc -205,-115  DistToNext 40.000000
    Speed 6, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move FORWARD   dir SOUTH  loc -205,-155  DistToNext 0.000000
    Speed 4, FLAG 1
     time 18.00   tot 18.00
   [ 3]     qtv    move STBD_TURN   dir SOUTH_WEST  loc -205,-155  DistToNext 41.012192
    Speed 4, FLAG 1
     time  0.00   tot 18.00
   [ 4]     qtv    move FORWARD   dir SOUTH_WEST  loc -234,-184  DistToNext 0.000000
    Speed 2, FLAG 1
     time 36.91   tot 54.91
   [ 5]     qtv    move STBD_TURN   dir WEST  loc -234,-184  DistToNext 0.000000
    Speed 2, FLAG 1
     time  0.00   tot 54.91
   [ 6]     qtv    move STBD_TURN   dir NORTH_WEST  loc -234,-184  DistToNext 80.610176
    Speed 0, FLAG 1
     time  0.00   tot 54.91
   [ 7]     qtv    move FORWARD   dir NORTH_WEST  loc -291,-127  DistToNext 0.000000
    Speed 2, FLAG 1
     time 72.55   tot 127.46
   [ 8]     qtv    move PORT_TURN   dir WEST  loc -291,-127  DistToNext 40.000000
    Speed 0, FLAG 1
     time  0.00   tot 127.46
   [ 9]     qtv    move FORWARD   dir WEST  loc -331,-127  DistToNext 0.000000
    Speed 0, FLAG 1
     time   inf   tot   inf
   [10]     qtv    move PORT_TURN   dir SOUTH_WEST  loc -331,-127  DistToNext 41.012192
    Speed 0, FLAG 1
     time  0.00   tot   inf
   [11]     qtv    move FORWARD   dir SOUTH_WEST  loc -360,-156  DistToNext 0.000000
    Speed 2, FLAG 1
     time 36.91   tot   inf
   [12]     qtv    move PORT_TURN   dir SOUTH  loc -360,-156  DistToNext 0.000000
    Speed 2, FLAG 1
     time  0.00   tot   inf
   [13]     qtv    move PORT_TURN   dir SOUTH_EAST  loc -360,-156  DistToNext 41.012192
    Speed 0, FLAG 1
     time  0.00   tot   inf
   [14]     qtv    move FORWARD   dir SOUTH_EAST  loc -331,-185  DistToNext 0.000000
    Speed 6, FLAG 1
     time 12.30   tot   inf
   [15]     qtv    move STBD_TURN   dir SOUTH  loc -331,-185  DistToNext 40.000000
    Speed 6, FLAG 1
     time  0.00   tot   inf
   [16]     qtv    move FORWARD   dir SOUTH  loc -331,-225  DistToNext 0.000000
    Speed 4, FLAG 1
     time 18.00   tot   inf
   [17]     qtv    move STBD_TURN   dir SOUTH_WEST  loc -331,-225  DistToNext 41.012192
    Speed 0, FLAG 1
     time  0.00   tot   inf
   [18]     qtv    move FORWARD   dir SOUTH_WEST  loc -360,-254  DistToNext 0.000000
    Speed 2, FLAG 1
     time 36.91   tot   inf
   [19]     qtv    move STBD_TURN   dir WEST  loc -360,-254  DistToNext 40.000000
    Speed 2, FLAG 1
     time  0.00   tot   inf
   [20]     qtv    move FORWARD   dir WEST  loc -400,-254  DistToNext 0.000000
    Speed 2, FLAG 1
     time 36.00   tot   inf
   [21]     qtv    move STBD_TURN   dir NORTH_WEST  loc -400,-254  DistToNext 0.000000
    Speed 2, FLAG 1
     time  0.00   tot   inf
   [22]     qtv    move STBD_TURN   dir NORTH  loc -400,-254  DistToNext 40.000000
    Speed 0, FLAG 1
     time  0.00   tot   inf
   [23]     qtv    move FORWARD   dir NORTH  loc -400,-214  DistToNext 0.000000
    Speed 4, FLAG 1
     time 18.00   tot   inf
   [24]     qtv    move STBD_TURN   dir NORTH_EAST  loc -400,-214  DistToNext 39.597980
    Speed 4, FLAG 1
     time  0.00   tot   inf
   [25]     qtv    move FORWARD   dir NORTH_EAST  loc -372,-186  DistToNext 0.000000
    Speed 6, FLAG 1
     time 11.88   tot   inf
   [26]     qtv    move PORT_TURN   dir NORTH  loc -372,-186  DistToNext 40.000000
    Speed 0, FLAG 1
     time  0.00   tot   inf
   [27]     qtv    move FORWARD   dir NORTH  loc -372,-146  DistToNext 0.000000
    Speed 4, FLAG 1
     time 18.00   tot   inf
   [28]     qtv    move PORT_TURN   dir NORTH_WEST  loc -372,-146  DistToNext 41.012192
    Speed 4, FLAG 1
     time  0.00   tot   inf
   [29]     qtv    move FORWARD   dir NORTH_WEST  loc -401,-117  DistToNext 0.000000
    Speed 2, FLAG 1
     time 36.91   tot   inf
   [30]     qtv    move PORT_TURN   dir WEST  loc -401,-117  DistToNext 0.000000
    Speed 2, FLAG 1
     time  0.00   tot   inf
   [31]     qtv    move PORT_TURN   dir SOUTH_WEST  loc -401,-117  DistToNext 41.012192
    Speed 0, FLAG 1
     time  0.00   tot   inf
   [32]     qtv    move FORWARD   dir SOUTH_WEST  loc -430,-146  DistToNext 0.000000
    Speed 2, FLAG 1
     time 36.91   tot   inf
   [33]     qtv    move STBD_TURN   dir WEST  loc -430,-146  DistToNext -inf
    Speed 2, FLAG 1
     time  0.00   tot   inf
   [34]     qtv    move FORWARD   dir WEST  loc 2147483218,-146  DistToNext 0.000000
    Speed -1, FLAG 1
     time  -inf   tot  -nan
   [35]     qtv    move PORT_TURN   dir SOUTH_WEST  loc 2147483218,-146  DistToNext -inf
    Speed 0, FLAG 1
     time  0.00   tot  -nan
  End Path <===
* ==> Start Path
   [ 0]     qtv    move PORT_TURN   dir WEST  loc -155,363  DistToNext 50.000000
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir WEST  loc -105,363  DistToNext 0.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
   [ 2]     qtv    move STBD_TURN   dir NORTH_WEST  loc -105,363  DistToNext 50.000000
    Speed 0, FLAG 1
     time  0.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir SOUTH_EAST  loc 1409,-783  DistToNext 118.793938
    Speed 6, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir SOUTH_EAST  loc 1493,-867  DistToNext 0.000000
    Speed 6, FLAG 1
     time 35.64   tot 35.64
   [ 2]     qtv    move STBD_TURN   dir SOUTH  loc 1493,-867  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot 35.64
   [ 3]     qtv    move FORWARD   dir SOUTH  loc 1493,-927  DistToNext 0.000000
    Speed 4, FLAG 1
     time 27.00   tot 62.64
   [ 4]     qtv    move STBD_TURN   dir SOUTH_WEST  loc 1493,-927  DistToNext 60.811184
    Speed 4, FLAG 1
     time  0.00   tot 62.64
   [ 5]     qtv    move FORWARD   dir SOUTH_WEST  loc 1450,-970  DistToNext 0.000000
    Speed 2, FLAG 1
     time 54.73   tot 117.37
   [ 6]     qtv    move STBD_TURN   dir WEST  loc 1450,-970  DistToNext 0.000000
    Speed 2, FLAG 1
     time  0.00   tot 117.37
   [ 7]     qtv    move STBD_TURN   dir NORTH_WEST  loc 1450,-970  DistToNext 60.811184
    Speed 0, FLAG 1
     time  0.00   tot 117.37
   [ 8]     qtv    move FORWARD   dir NORTH_WEST  loc 1407,-927  DistToNext 0.000000
    Speed 2, FLAG 1
     time 54.73   tot 172.10
   [ 9]     qtv    move STBD_TURN   dir NORTH  loc 1407,-927  DistToNext 120.000000
    Speed 2, FLAG 1
     time  0.00   tot 172.10
   [10]     qtv    move FORWARD   dir NORTH  loc 1407,-807  DistToNext 0.000000
    Speed 4, FLAG 1
     time 54.00   tot 226.10
   [11]     qtv    move PORT_TURN   dir NORTH_WEST  loc 1407,-807  DistToNext 60.811184
    Speed 0, FLAG 1
     time  0.00   tot 226.10
   [12]     qtv    move FORWARD   dir NORTH_WEST  loc 1364,-764  DistToNext 0.000000
    Speed 2, FLAG 1
     time 54.73   tot 280.83
   [13]     qtv    move PORT_TURN   dir WEST  loc 1364,-764  DistToNext 60.000000
    Speed 2, FLAG 1
     time  0.00   tot 280.83
   [14]     qtv    move FORWARD   dir WEST  loc 1304,-764  DistToNext 0.000000
    Speed 2, FLAG 1
     time 54.00   tot 334.83
   [15]     qtv    move PORT_TURN   dir SOUTH_WEST  loc 1304,-764  DistToNext 0.000000
    Speed 2, FLAG 1
     time  0.00   tot 334.83
   [16]     qtv    move PORT_TURN   dir SOUTH  loc 1304,-764  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot 334.83
   [17]     qtv    move FORWARD   dir SOUTH  loc 1304,-824  DistToNext 0.000000
    Speed 4, FLAG 1
     time 27.00   tot 361.83
   [18]     qtv    move STBD_TURN   dir SOUTH_WEST  loc 1304,-824  DistToNext 98.994949
    Speed 4, FLAG 1
     time  0.00   tot 361.83
   [19]     qtv    move FORWARD   dir SOUTH_WEST  loc 1234,-894  DistToNext 0.000000
    Speed 2, FLAG 1
     time 89.09   tot 450.92
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir SOUTH_WEST  loc 529,-425  DistToNext 0.000000
    Speed 2, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move PORT_TURN   dir SOUTH  loc 529,-425  DistToNext 0.000000
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move STBD_TURN   dir SOUTH_WEST  loc 529,-425  DistToNext 60.811184
    Speed 2, FLAG 1
     time  0.00   tot  0.00
   [ 3]     qtv    move FORWARD   dir SOUTH_WEST  loc 486,-468  DistToNext 0.000000
    Speed 2, FLAG 1
     time 54.73   tot 54.73
   [ 4]     qtv    move STBD_TURN   dir WEST  loc 486,-468  DistToNext 60.000000
    Speed 2, FLAG 1
     time  0.00   tot 54.73
   [ 5]     qtv    move FORWARD   dir WEST  loc 426,-468  DistToNext 0.000000
    Speed 2, FLAG 1
     time 54.00   tot 108.73
   [ 6]     qtv    move STBD_TURN   dir NORTH_WEST  loc 426,-468  DistToNext 0.000000
    Speed 2, FLAG 1
     time  0.00   tot 108.73
   [ 7]     qtv    move STBD_TURN   dir NORTH  loc 426,-468  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot 108.73
   [ 8]     qtv    move FORWARD   dir NORTH  loc 426,-408  DistToNext 0.000000
    Speed 4, FLAG 1
     time 27.00   tot 135.73
   [ 9]     qtv    move PORT_TURN   dir NORTH_WEST  loc 426,-408  DistToNext 48.083260
    Speed 4, FLAG 1
     time  0.00   tot 135.73
   [10]     qtv    move FORWARD   dir NORTH_WEST  loc 392,-374  DistToNext 38.183765
    Speed 2, FLAG 1
     time 43.27   tot 179.00
   [11]     qtv    move FORWARD   dir NORTH_WEST  loc 419,-401  DistToNext 0.000000
    Speed 2, FLAG 2
     time 34.37   tot 213.37
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir SOUTH_EAST  loc 227,478  DistToNext 0.000000
    Speed 6, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move STBD_TURN   dir SOUTH  loc 227,478  DistToNext 60.000000
    Speed 6, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move FORWARD   dir SOUTH  loc 227,418  DistToNext 0.000000
    Speed 4, FLAG 1
     time 27.00   tot 27.00
   [ 3]     qtv    move STBD_TURN   dir SOUTH_WEST  loc 227,418  DistToNext 60.811184
    Speed 4, FLAG 1
     time  0.00   tot 27.00
   [ 4]     qtv    move FORWARD   dir SOUTH_WEST  loc 184,375  DistToNext 0.000000
    Speed 2, FLAG 1
     time 54.73   tot 81.73
   [ 5]     qtv    move STBD_TURN   dir WEST  loc 184,375  DistToNext 0.000000
    Speed 2, FLAG 1
     time  0.00   tot 81.73
   [ 6]     qtv    move STBD_TURN   dir NORTH_WEST  loc 184,375  DistToNext 108.894447
    Speed 0, FLAG 1
     time  0.00   tot 81.73
   [ 7]     qtv    move FORWARD   dir NORTH_WEST  loc 107,452  DistToNext 36.769554
    Speed 2, FLAG 1
     time 98.00   tot 179.73
   [ 8]     qtv    move FORWARD   dir NORTH_WEST  loc 133,426  DistToNext 0.000000
    Speed 2, FLAG 2
     time 33.09   tot 212.83
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir NORTH_WEST  loc 628,366  DistToNext 0.000000
    Speed 2, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move STBD_TURN   dir NORTH  loc 628,366  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move FORWARD   dir NORTH  loc 628,426  DistToNext 0.000000
    Speed 4, FLAG 1
     time 27.00   tot 27.00
   [ 3]     qtv    move STBD_TURN   dir NORTH_EAST  loc 628,426  DistToNext 59.396969
    Speed 0, FLAG 1
     time  0.00   tot 27.00
   [ 4]     qtv    move FORWARD   dir NORTH_EAST  loc 670,468  DistToNext 0.000000
    Speed 6, FLAG 1
     time 17.82   tot 44.82
   [ 5]     qtv    move STBD_TURN   dir EAST  loc 670,468  DistToNext 120.000000
    Speed 0, FLAG 1
     time  0.00   tot 44.82
   [ 6]     qtv    move FORWARD   dir EAST  loc 790,468  DistToNext 0.000000
    Speed 5, FLAG 1
     time 43.20   tot 88.02
   [ 7]     qtv    move STBD_TURN   dir SOUTH_EAST  loc 790,468  DistToNext 118.793938
    Speed 0, FLAG 1
     time  0.00   tot 88.02
   [ 8]     qtv    move FORWARD   dir SOUTH_EAST  loc 874,384  DistToNext 0.000000
    Speed 6, FLAG 1
     time 35.64   tot 123.66
   [ 9]     qtv    move STBD_TURN   dir SOUTH  loc 874,384  DistToNext 120.000000
    Speed 0, FLAG 1
     time  0.00   tot 123.66
   [10]     qtv    move FORWARD   dir SOUTH  loc 874,264  DistToNext 0.000000
    Speed 4, FLAG 1
     time 54.00   tot 177.66
   [11]     qtv    move STBD_TURN   dir SOUTH_WEST  loc 874,264  DistToNext 1.414214
    Speed 0, FLAG 1
     time  0.00   tot 177.66
   [12]     qtv    move FORWARD   dir SOUTH_WEST  loc 873,263  DistToNext 56.568542
    Speed 2, FLAG 1
     time  1.27   tot 178.93
   [13]     qtv    move FORWARD   dir SOUTH_WEST  loc 833,223  DistToNext 0.000000
    Speed 2, FLAG 2
     time 50.91   tot 229.84
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir SOUTH_WEST  loc 327,-419  DistToNext 0.000000
    Speed 2, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move PORT_TURN   dir SOUTH  loc 327,-419  DistToNext 0.000000
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move STBD_TURN   dir SOUTH_WEST  loc 327,-419  DistToNext 60.811184
    Speed 2, FLAG 1
     time  0.00   tot  0.00
   [ 3]     qtv    move FORWARD   dir SOUTH_WEST  loc 284,-462  DistToNext 0.000000
    Speed 2, FLAG 1
     time 54.73   tot 54.73
   [ 4]     qtv    move STBD_TURN   dir WEST  loc 284,-462  DistToNext 60.000000
    Speed 2, FLAG 1
     time  0.00   tot 54.73
   [ 5]     qtv    move FORWARD   dir WEST  loc 224,-462  DistToNext 0.000000
    Speed 2, FLAG 1
     time 54.00   tot 108.73
   [ 6]     qtv    move STBD_TURN   dir NORTH_WEST  loc 224,-462  DistToNext 0.000000
    Speed 2, FLAG 1
     time  0.00   tot 108.73
   [ 7]     qtv    move STBD_TURN   dir NORTH  loc 224,-462  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot 108.73
   [ 8]     qtv    move FORWARD   dir NORTH  loc 224,-402  DistToNext 0.000000
    Speed 4, FLAG 1
     time 27.00   tot 135.73
   [ 9]     qtv    move PORT_TURN   dir NORTH_WEST  loc 224,-402  DistToNext 48.083260
    Speed 4, FLAG 1
     time  0.00   tot 135.73
   [10]     qtv    move FORWARD   dir NORTH_WEST  loc 190,-368  DistToNext 38.183765
    Speed 2, FLAG 1
     time 43.27   tot 179.00
   [11]     qtv    move FORWARD   dir NORTH_WEST  loc 217,-395  DistToNext 0.000000
    Speed 2, FLAG 2
     time 34.37   tot 213.37
  End Path <===
* ==> Start Path
   [ 0]     qtv    move NO_DIRECTION   dir SOUTH_EAST  loc 958,156  DistToNext 59.396969
    Speed 5, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir SOUTH_EAST  loc 1000,114  DistToNext 0.000000
    Speed 5, FLAG 1
     time 21.38   tot 21.38
   [ 2]     qtv    move PORT_TURN   dir EAST  loc 1000,114  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot 21.38
   [ 3]     qtv    move FORWARD   dir EAST  loc 1060,114  DistToNext 0.000000
    Speed 4, FLAG 1
     time 27.00   tot 48.38
   [ 4]     qtv    move PORT_TURN   dir NORTH_EAST  loc 1060,114  DistToNext 59.396969
    Speed 0, FLAG 1
     time  0.00   tot 48.38
   [ 5]     qtv    move FORWARD   dir NORTH_EAST  loc 1102,156  DistToNext 0.000000
    Speed 5, FLAG 1
     time 21.38   tot 69.77
   [ 6]     qtv    move PORT_TURN   dir NORTH  loc 1102,156  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot 69.77
   [ 7]     qtv    move FORWARD   dir NORTH  loc 1102,216  DistToNext 0.000000
    Speed 3, FLAG 1
     time 36.00   tot 105.76
   [ 8]     qtv    move PORT_TURN   dir NORTH_WEST  loc 1102,216  DistToNext 39.597980
    Speed 0, FLAG 1
     time  0.00   tot 105.76
   [ 9]     qtv    move FORWARD   dir NORTH_WEST  loc 1074,244  DistToNext 21.213203
    Speed 1, FLAG 1
     time 71.28   tot 177.04
   [10]     qtv    move FORWARD   dir NORTH_WEST  loc 1089,229  DistToNext 0.000000
    Speed 1, FLAG 2
     time 38.18   tot 215.22
  End Path <===
* ==> Start Path
   [ 0]     qtv    move NO_MOVE   dir WEST  loc 175,-169  DistToNext 50.000000
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir WEST  loc 225,-169  DistToNext 0.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
   [ 2]     qtv    move PORT_TURN   dir SOUTH_WEST  loc 225,-169  DistToNext 50.000000
    Speed 0, FLAG 1
     time  0.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir EAST  loc 1890,-1188  DistToNext 40.000000
    Speed 7, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir EAST  loc 1930,-1188  DistToNext 0.000000
    Speed 7, FLAG 1
     time 10.29   tot 10.29
   [ 2]     qtv    move STBD_TURN   dir SOUTH_EAST  loc 1930,-1188  DistToNext 41.012192
    Speed 0, FLAG 1
     time  0.00   tot 10.29
   [ 3]     qtv    move FORWARD   dir SOUTH_EAST  loc 1959,-1217  DistToNext 0.000000
    Speed 8, FLAG 1
     time  9.23   tot 19.51
   [ 4]     qtv    move STBD_TURN   dir SOUTH  loc 1959,-1217  DistToNext 40.000000
    Speed 8, FLAG 1
     time  0.00   tot 19.51
   [ 5]     qtv    move FORWARD   dir SOUTH  loc 1959,-1257  DistToNext 0.000000
    Speed 6, FLAG 1
     time 12.00   tot 31.51
   [ 6]     qtv    move STBD_TURN   dir SOUTH_WEST  loc 1959,-1257  DistToNext 0.000000
    Speed 6, FLAG 1
     time  0.00   tot 31.51
   [ 7]     qtv    move STBD_TURN   dir WEST  loc 1959,-1257  DistToNext 40.000000
    Speed 0, FLAG 1
     time  0.00   tot 31.51
   [ 8]     qtv    move FORWARD   dir WEST  loc 1919,-1257  DistToNext 0.000000
    Speed 6, FLAG 1
     time 12.00   tot 43.51
   [ 9]     qtv    move STBD_TURN   dir NORTH_WEST  loc 1919,-1257  DistToNext 39.597980
    Speed 6, FLAG 1
     time  0.00   tot 43.51
   [10]     qtv    move FORWARD   dir NORTH_WEST  loc 1891,-1229  DistToNext 0.000000
    Speed 2, FLAG 1
     time 35.64   tot 79.15
   [11]     qtv    move PORT_TURN   dir WEST  loc 1891,-1229  DistToNext 40.000000
    Speed 0, FLAG 1
     time  0.00   tot 79.15
   [12]     qtv    move FORWARD   dir WEST  loc 1851,-1229  DistToNext 0.000000
    Speed 0, FLAG 1
     time   inf   tot   inf
   [13]     qtv    move PORT_TURN   dir SOUTH_WEST  loc 1851,-1229  DistToNext 41.012192
    Speed 0, FLAG 1
     time  0.00   tot   inf
   [14]     qtv    move FORWARD   dir SOUTH_WEST  loc 1822,-1258  DistToNext 0.000000
    Speed 2, FLAG 1
     time 36.91   tot   inf
   [15]     qtv    move PORT_TURN   dir SOUTH  loc 1822,-1258  DistToNext 0.000000
    Speed 2, FLAG 1
     time  0.00   tot   inf
   [16]     qtv    move PORT_TURN   dir SOUTH_EAST  loc 1822,-1258  DistToNext 41.012192
    Speed 0, FLAG 1
     time  0.00   tot   inf
   [17]     qtv    move FORWARD   dir SOUTH_EAST  loc 1851,-1287  DistToNext 0.000000
    Speed 8, FLAG 1
     time  9.23   tot   inf
   [18]     qtv    move STBD_TURN   dir SOUTH  loc 1851,-1287  DistToNext 40.000000
    Speed 8, FLAG 1
     time  0.00   tot   inf
   [19]     qtv    move FORWARD   dir SOUTH  loc 1851,-1327  DistToNext 0.000000
    Speed 6, FLAG 1
     time 12.00   tot   inf
   [20]     qtv    move STBD_TURN   dir SOUTH_WEST  loc 1851,-1327  DistToNext 41.012192
    Speed 0, FLAG 1
     time  0.00   tot   inf
   [21]     qtv    move FORWARD   dir SOUTH_WEST  loc 1822,-1356  DistToNext 0.000000
    Speed 2, FLAG 1
     time 36.91   tot   inf
   [22]     qtv    move STBD_TURN   dir WEST  loc 1822,-1356  DistToNext 40.000000
    Speed 2, FLAG 1
     time  0.00   tot   inf
   [23]     qtv    move FORWARD   dir WEST  loc 1782,-1356  DistToNext 0.000000
    Speed 2, FLAG 1
     time 36.00   tot   inf
   [24]     qtv    move STBD_TURN   dir NORTH_WEST  loc 1782,-1356  DistToNext 0.000000
    Speed 2, FLAG 1
     time  0.00   tot   inf
   [25]     qtv    move STBD_TURN   dir NORTH  loc 1782,-1356  DistToNext 40.000000
    Speed 0, FLAG 1
     time  0.00   tot   inf
   [26]     qtv    move FORWARD   dir NORTH  loc 1782,-1316  DistToNext 0.000000
    Speed 6, FLAG 1
     time 12.00   tot   inf
   [27]     qtv    move STBD_TURN   dir NORTH_EAST  loc 1782,-1316  DistToNext 39.597980
    Speed 6, FLAG 1
     time  0.00   tot   inf
   [28]     qtv    move FORWARD   dir NORTH_EAST  loc 1810,-1288  DistToNext 0.000000
    Speed 8, FLAG 1
     time  8.91   tot   inf
   [29]     qtv    move PORT_TURN   dir NORTH  loc 1810,-1288  DistToNext 40.000000
    Speed 0, FLAG 1
     time  0.00   tot   inf
   [30]     qtv    move FORWARD   dir NORTH  loc 1810,-1248  DistToNext 0.000000
    Speed 6, FLAG 1
     time 12.00   tot   inf
   [31]     qtv    move PORT_TURN   dir NORTH_WEST  loc 1810,-1248  DistToNext 41.012192
    Speed 6, FLAG 1
     time  0.00   tot   inf
   [32]     qtv    move FORWARD   dir NORTH_WEST  loc 1781,-1219  DistToNext 0.000000
    Speed 2, FLAG 1
     time 36.91   tot   inf
   [33]     qtv    move PORT_TURN   dir WEST  loc 1781,-1219  DistToNext 0.000000
    Speed 2, FLAG 1
     time  0.00   tot   inf
   [34]     qtv    move PORT_TURN   dir SOUTH_WEST  loc 1781,-1219  DistToNext 41.012192
    Speed 0, FLAG 1
     time  0.00   tot   inf
   [35]     qtv    move FORWARD   dir SOUTH_WEST  loc 1752,-1248  DistToNext 0.000000
    Speed 2, FLAG 1
     time 36.91   tot   inf
   [36]     qtv    move STBD_TURN   dir WEST  loc 1752,-1248  DistToNext -inf
    Speed 2, FLAG 1
     time  0.00   tot   inf
   [37]     qtv    move FORWARD   dir WEST  loc -2147481896,-1248  DistToNext 0.000000
    Speed -1, FLAG 1
     time  -inf   tot  -nan
   [38]     qtv    move PORT_TURN   dir SOUTH_WEST  loc -2147481896,-1248  DistToNext -inf
    Speed 0, FLAG 1
     time  0.00   tot  -nan
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir WEST  loc 1236,-1493  DistToNext 50.000000
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir WEST  loc 1286,-1493  DistToNext 50.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir NORTH_WEST  loc 2238,-1232  DistToNext 0.000000
    Speed 2, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move STBD_TURN   dir NORTH  loc 2238,-1232  DistToNext 0.000000
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move PORT_TURN   dir NORTH_WEST  loc 2238,-1232  DistToNext 60.811184
    Speed 2, FLAG 1
     time  0.00   tot  0.00
   [ 3]     qtv    move FORWARD   dir NORTH_WEST  loc 2195,-1189  DistToNext 0.000000
    Speed 2, FLAG 1
     time 54.73   tot 54.73
   [ 4]     qtv    move PORT_TURN   dir WEST  loc 2195,-1189  DistToNext 60.000000
    Speed 2, FLAG 1
     time  0.00   tot 54.73
   [ 5]     qtv    move FORWARD   dir WEST  loc 2135,-1189  DistToNext 0.000000
    Speed 2, FLAG 1
     time 54.00   tot 108.73
   [ 6]     qtv    move PORT_TURN   dir SOUTH_WEST  loc 2135,-1189  DistToNext 0.000000
    Speed 2, FLAG 1
     time  0.00   tot 108.73
   [ 7]     qtv    move PORT_TURN   dir SOUTH  loc 2135,-1189  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot 108.73
   [ 8]     qtv    move FORWARD   dir SOUTH  loc 2135,-1249  DistToNext 0.000000
    Speed 4, FLAG 1
     time 27.00   tot 135.73
   [ 9]     qtv    move PORT_TURN   dir SOUTH_EAST  loc 2135,-1249  DistToNext 118.793938
    Speed 4, FLAG 1
     time  0.00   tot 135.73
   [10]     qtv    move FORWARD   dir SOUTH_EAST  loc 2219,-1333  DistToNext 0.000000
    Speed 5, FLAG 1
     time 42.77   tot 178.49
   [11]     qtv    move STBD_TURN   dir SOUTH  loc 2219,-1333  DistToNext 2.000000
    Speed 0, FLAG 1
     time  0.00   tot 178.49
   [12]     qtv    move FORWARD   dir SOUTH  loc 2219,-1335  DistToNext 55.000000
    Speed 4, FLAG 1
     time  0.90   tot 179.39
   [13]     qtv    move FORWARD   dir SOUTH  loc 2219,-1390  DistToNext 0.000000
    Speed 4, FLAG 2
     time 24.75   tot 204.14
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir WEST  loc 1938,-1104  DistToNext 50.000000
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir WEST  loc 1988,-1104  DistToNext 50.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move PORT_TURN   dir NORTH  loc 1376,-868  DistToNext 60.000000
    Speed 4, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir NORTH  loc 1376,-808  DistToNext 0.000000
    Speed 4, FLAG 1
     time 27.00   tot 27.00
   [ 2]     qtv    move STBD_TURN   dir NORTH_EAST  loc 1376,-808  DistToNext 59.396969
    Speed 0, FLAG 1
     time  0.00   tot 27.00
   [ 3]     qtv    move FORWARD   dir NORTH_EAST  loc 1418,-766  DistToNext 0.000000
    Speed 6, FLAG 1
     time 17.82   tot 44.82
   [ 4]     qtv    move STBD_TURN   dir EAST  loc 1418,-766  DistToNext 375.000000
    Speed 0, FLAG 1
     time  0.00   tot 44.82
   [ 5]     qtv    move FORWARD   dir EAST  loc 1793,-766  DistToNext 29.000000
    Speed 5, FLAG 1
     time 135.00   tot 179.82
   [ 6]     qtv    move FORWARD   dir EAST  loc 1822,-766  DistToNext 0.000000
    Speed 5, FLAG 2
     time 10.44   tot 190.26
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir EAST  loc 1841,-1111  DistToNext 0.000000
    Speed 4, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move STBD_TURN   dir SOUTH_EAST  loc 1841,-1111  DistToNext 138.592926
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move FORWARD   dir SOUTH_EAST  loc 1939,-1209  DistToNext 0.000000
    Speed 5, FLAG 1
     time 49.89   tot 49.89
   [ 3]     qtv    move STBD_TURN   dir SOUTH  loc 1939,-1209  DistToNext 70.000000
    Speed 0, FLAG 1
     time  0.00   tot 49.89
   [ 4]     qtv    move FORWARD   dir SOUTH  loc 1939,-1279  DistToNext 0.000000
    Speed 3, FLAG 1
     time 42.00   tot 91.89
   [ 5]     qtv    move STBD_TURN   dir SOUTH_WEST  loc 1939,-1279  DistToNext 70.710678
    Speed 3, FLAG 1
     time  0.00   tot 91.89
   [ 6]     qtv    move FORWARD   dir SOUTH_WEST  loc 1889,-1329  DistToNext 0.000000
    Speed 1, FLAG 1
     time 127.28   tot 219.17
   [ 7]     qtv    move STBD_TURN   dir WEST  loc 1889,-1329  DistToNext 0.000000
    Speed 1, FLAG 1
     time  0.00   tot 219.17
   [ 8]     qtv    move STBD_TURN   dir NORTH_WEST  loc 1889,-1329  DistToNext 70.710678
    Speed 0, FLAG 1
     time  0.00   tot 219.17
   [ 9]     qtv    move FORWARD   dir NORTH_WEST  loc 1839,-1279  DistToNext 0.000000
    Speed 1, FLAG 1
     time 127.28   tot 346.45
   [10]     qtv    move STBD_TURN   dir NORTH  loc 1839,-1279  DistToNext 140.000000
    Speed 1, FLAG 1
     time  0.00   tot 346.45
   [11]     qtv    move FORWARD   dir NORTH  loc 1839,-1139  DistToNext 0.000000
    Speed 3, FLAG 1
     time 84.00   tot 430.45
   [12]     qtv    move PORT_TURN   dir NORTH_WEST  loc 1839,-1139  DistToNext 70.710678
    Speed 0, FLAG 1
     time  0.00   tot 430.45
   [13]     qtv    move FORWARD   dir NORTH_WEST  loc 1789,-1089  DistToNext 0.000000
    Speed 1, FLAG 1
     time 127.28   tot 557.73
   [14]     qtv    move PORT_TURN   dir WEST  loc 1789,-1089  DistToNext 70.000000
    Speed 1, FLAG 1
     time  0.00   tot 557.73
   [15]     qtv    move FORWARD   dir WEST  loc 1719,-1089  DistToNext 0.000000
    Speed 1, FLAG 1
     time 126.00   tot 683.73
   [16]     qtv    move PORT_TURN   dir SOUTH_WEST  loc 1719,-1089  DistToNext 0.000000
    Speed 1, FLAG 1
     time  0.00   tot 683.73
   [17]     qtv    move PORT_TURN   dir SOUTH  loc 1719,-1089  DistToNext 70.000000
    Speed 0, FLAG 1
     time  0.00   tot 683.73
   [18]     qtv    move FORWARD   dir SOUTH  loc 1719,-1159  DistToNext 0.000000
    Speed 3, FLAG 1
     time 42.00   tot 725.73
   [19]     qtv    move STBD_TURN   dir SOUTH_WEST  loc 1719,-1159  DistToNext 24.041630
    Speed 3, FLAG 1
     time  0.00   tot 725.73
   [20]     qtv    move FORWARD   dir SOUTH_WEST  loc 1702,-1176  DistToNext 19.798990
    Speed 1, FLAG 1
     time 43.27   tot 769.00
   [21]     qtv    move FORWARD   dir SOUTH_WEST  loc 1688,-1190  DistToNext 0.000000
    Speed 1, FLAG 2
     time 35.64   tot 804.64
  End Path <===
* ==> Start Path
   [ 0]     qtv    move PORT_TURN   dir WEST  loc 1638,-1098  DistToNext 50.000000
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir WEST  loc 1688,-1098  DistToNext 0.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
   [ 2]     qtv    move STBD_TURN   dir NORTH_WEST  loc 1688,-1098  DistToNext 50.000000
    Speed 0, FLAG 1
     time  0.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move STBD_TURN   dir SOUTH_WEST  loc -430,-146  DistToNext 39.597980
    Speed 2, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir SOUTH_WEST  loc -458,-174  DistToNext 0.000000
    Speed 2, FLAG 1
     time 35.64   tot 35.64
   [ 2]     qtv    move PORT_TURN   dir SOUTH  loc -458,-174  DistToNext 0.000000
    Speed 0, FLAG 1
     time  0.00   tot 35.64
   [ 3]     qtv    move STBD_TURN   dir SOUTH_WEST  loc -458,-174  DistToNext 41.012192
    Speed 2, FLAG 1
     time  0.00   tot 35.64
   [ 4]     qtv    move FORWARD   dir SOUTH_WEST  loc -487,-203  DistToNext 0.000000
    Speed 2, FLAG 1
     time 36.91   tot 72.55
   [ 5]     qtv    move STBD_TURN   dir WEST  loc -487,-203  DistToNext 40.000000
    Speed 2, FLAG 1
     time  0.00   tot 72.55
   [ 6]     qtv    move FORWARD   dir WEST  loc -527,-203  DistToNext 0.000000
    Speed 2, FLAG 1
     time 36.00   tot 108.55
   [ 7]     qtv    move STBD_TURN   dir NORTH_WEST  loc -527,-203  DistToNext 0.000000
    Speed 2, FLAG 1
     time  0.00   tot 108.55
   [ 8]     qtv    move STBD_TURN   dir NORTH  loc -527,-203  DistToNext 40.000000
    Speed 0, FLAG 1
     time  0.00   tot 108.55
   [ 9]     qtv    move FORWARD   dir NORTH  loc -527,-163  DistToNext 0.000000
    Speed 4, FLAG 1
     time 18.00   tot 126.55
   [10]     qtv    move PORT_TURN   dir NORTH_WEST  loc -527,-163  DistToNext 57.982758
    Speed 4, FLAG 1
     time  0.00   tot 126.55
   [11]     qtv    move FORWARD   dir NORTH_WEST  loc -568,-122  DistToNext 1.414214
    Speed 2, FLAG 1
     time 52.18   tot 178.73
   [12]     qtv    move FORWARD   dir NORTH_WEST  loc -569,-121  DistToNext 0.000000
    Speed 2, FLAG 2
     time  1.27   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move STBD_TURN   dir NORTH_WEST  loc -105,363  DistToNext 39.597980
    Speed 2, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir NORTH_WEST  loc -133,391  DistToNext 0.000000
    Speed 2, FLAG 1
     time 35.64   tot 35.64
   [ 2]     qtv    move STBD_TURN   dir NORTH  loc -133,391  DistToNext 40.000000
    Speed 0, FLAG 1
     time  0.00   tot 35.64
   [ 3]     qtv    move FORWARD   dir NORTH  loc -133,431  DistToNext 0.000000
    Speed 5, FLAG 1
     time 14.40   tot 50.04
   [ 4]     qtv    move STBD_TURN   dir NORTH_EAST  loc -133,431  DistToNext 569.928040
    Speed 0, FLAG 1
     time  0.00   tot 50.04
   [ 5]     qtv    move FORWARD   dir NORTH_EAST  loc 270,834  DistToNext 7.071068
    Speed 8, FLAG 1
     time 128.23   tot 178.27
   [ 6]     qtv    move FORWARD   dir NORTH_EAST  loc 275,839  DistToNext 0.000000
    Speed 8, FLAG 2
     time  1.59   tot 179.86
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir NORTH  loc 1234,-894  DistToNext 0.000000
    Speed 4, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move STBD_TURN   dir NORTH_EAST  loc 1234,-894  DistToNext 59.396969
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move FORWARD   dir NORTH_EAST  loc 1276,-852  DistToNext 0.000000
    Speed 6, FLAG 1
     time 17.82   tot 17.82
   [ 3]     qtv    move STBD_TURN   dir EAST  loc 1276,-852  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot 17.82
   [ 4]     qtv    move FORWARD   dir EAST  loc 1336,-852  DistToNext 0.000000
    Speed 5, FLAG 1
     time 21.60   tot 39.42
   [ 5]     qtv    move STBD_TURN   dir SOUTH_EAST  loc 1336,-852  DistToNext 118.793938
    Speed 0, FLAG 1
     time  0.00   tot 39.42
   [ 6]     qtv    move FORWARD   dir SOUTH_EAST  loc 1420,-936  DistToNext 0.000000
    Speed 6, FLAG 1
     time 35.64   tot 75.06
   [ 7]     qtv    move STBD_TURN   dir SOUTH  loc 1420,-936  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot 75.06
   [ 8]     qtv    move FORWARD   dir SOUTH  loc 1420,-996  DistToNext 0.000000
    Speed 4, FLAG 1
     time 27.00   tot 102.06
   [ 9]     qtv    move STBD_TURN   dir SOUTH_WEST  loc 1420,-996  DistToNext 60.811184
    Speed 4, FLAG 1
     time  0.00   tot 102.06
   [10]     qtv    move FORWARD   dir SOUTH_WEST  loc 1377,-1039  DistToNext 0.000000
    Speed 2, FLAG 1
     time 54.73   tot 156.79
   [11]     qtv    move STBD_TURN   dir WEST  loc 1377,-1039  DistToNext 0.000000
    Speed 2, FLAG 1
     time  0.00   tot 156.79
   [12]     qtv    move STBD_TURN   dir NORTH_WEST  loc 1377,-1039  DistToNext 60.811184
    Speed 0, FLAG 1
     time  0.00   tot 156.79
   [13]     qtv    move FORWARD   dir NORTH_WEST  loc 1334,-996  DistToNext 0.000000
    Speed 2, FLAG 1
     time 54.73   tot 211.52
   [14]     qtv    move STBD_TURN   dir NORTH  loc 1334,-996  DistToNext 120.000000
    Speed 2, FLAG 1
     time  0.00   tot 211.52
   [15]     qtv    move FORWARD   dir NORTH  loc 1334,-876  DistToNext 0.000000
    Speed 4, FLAG 1
     time 54.00   tot 265.52
   [16]     qtv    move PORT_TURN   dir NORTH_WEST  loc 1334,-876  DistToNext 60.811184
    Speed 0, FLAG 1
     time  0.00   tot 265.52
   [17]     qtv    move FORWARD   dir NORTH_WEST  loc 1291,-833  DistToNext 0.000000
    Speed 2, FLAG 1
     time 54.73   tot 320.24
   [18]     qtv    move PORT_TURN   dir WEST  loc 1291,-833  DistToNext 60.000000
    Speed 2, FLAG 1
     time  0.00   tot 320.24
   [19]     qtv    move FORWARD   dir WEST  loc 1231,-833  DistToNext 0.000000
    Speed 2, FLAG 1
     time 54.00   tot 374.24
   [20]     qtv    move PORT_TURN   dir SOUTH_WEST  loc 1231,-833  DistToNext 0.000000
    Speed 2, FLAG 1
     time  0.00   tot 374.24
   [21]     qtv    move PORT_TURN   dir SOUTH  loc 1231,-833  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot 374.24
   [22]     qtv    move FORWARD   dir SOUTH  loc 1231,-893  DistToNext 0.000000
    Speed 4, FLAG 1
     time 27.00   tot 401.24
   [23]     qtv    move STBD_TURN   dir SOUTH_WEST  loc 1231,-893  DistToNext 55.154327
    Speed 4, FLAG 1
     time  0.00   tot 401.24
   [24]     qtv    move FORWARD   dir SOUTH_WEST  loc 1192,-932  DistToNext 52.325901
    Speed 2, FLAG 1
     time 49.64   tot 450.88
   [25]     qtv    move FORWARD   dir SOUTH_WEST  loc 1229,-895  DistToNext 0.000000
    Speed 2, FLAG 2
     time 47.09   tot 497.98
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir NORTH_WEST  loc 392,-374  DistToNext 0.000000
    Speed 2, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move STBD_TURN   dir NORTH  loc 392,-374  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move FORWARD   dir NORTH  loc 392,-314  DistToNext 0.000000
    Speed 4, FLAG 1
     time 27.00   tot 27.00
   [ 3]     qtv    move STBD_TURN   dir NORTH_EAST  loc 392,-314  DistToNext 118.793938
    Speed 0, FLAG 1
     time  0.00   tot 27.00
   [ 4]     qtv    move FORWARD   dir NORTH_EAST  loc 476,-230  DistToNext 0.000000
    Speed 6, FLAG 1
     time 35.64   tot 62.64
   [ 5]     qtv    move STBD_TURN   dir EAST  loc 476,-230  DistToNext 120.000000
    Speed 0, FLAG 1
     time  0.00   tot 62.64
   [ 6]     qtv    move FORWARD   dir EAST  loc 596,-230  DistToNext 0.000000
    Speed 5, FLAG 1
     time 43.20   tot 105.84
   [ 7]     qtv    move STBD_TURN   dir SOUTH_EAST  loc 596,-230  DistToNext 118.793938
    Speed 0, FLAG 1
     time  0.00   tot 105.84
   [ 8]     qtv    move FORWARD   dir SOUTH_EAST  loc 680,-314  DistToNext 0.000000
    Speed 6, FLAG 1
     time 35.64   tot 141.48
   [ 9]     qtv    move STBD_TURN   dir SOUTH  loc 680,-314  DistToNext 84.000000
    Speed 0, FLAG 1
     time  0.00   tot 141.48
   [10]     qtv    move FORWARD   dir SOUTH  loc 680,-398  DistToNext 0.000000
    Speed 4, FLAG 1
     time 37.80   tot 179.27
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir NORTH_WEST  loc 107,452  DistToNext 0.000000
    Speed 2, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move STBD_TURN   dir NORTH  loc 107,452  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move FORWARD   dir NORTH  loc 107,512  DistToNext 0.000000
    Speed 4, FLAG 1
     time 27.00   tot 27.00
   [ 3]     qtv    move STBD_TURN   dir NORTH_EAST  loc 107,512  DistToNext 59.396969
    Speed 0, FLAG 1
     time  0.00   tot 27.00
   [ 4]     qtv    move FORWARD   dir NORTH_EAST  loc 149,554  DistToNext 0.000000
    Speed 6, FLAG 1
     time 17.82   tot 44.82
   [ 5]     qtv    move STBD_TURN   dir EAST  loc 149,554  DistToNext 120.000000
    Speed 0, FLAG 1
     time  0.00   tot 44.82
   [ 6]     qtv    move FORWARD   dir EAST  loc 269,554  DistToNext 0.000000
    Speed 5, FLAG 1
     time 43.20   tot 88.02
   [ 7]     qtv    move STBD_TURN   dir SOUTH_EAST  loc 269,554  DistToNext 118.793938
    Speed 0, FLAG 1
     time  0.00   tot 88.02
   [ 8]     qtv    move FORWARD   dir SOUTH_EAST  loc 353,470  DistToNext 0.000000
    Speed 6, FLAG 1
     time 35.64   tot 123.66
   [ 9]     qtv    move STBD_TURN   dir SOUTH  loc 353,470  DistToNext 120.000000
    Speed 0, FLAG 1
     time  0.00   tot 123.66
   [10]     qtv    move FORWARD   dir SOUTH  loc 353,350  DistToNext 0.000000
    Speed 4, FLAG 1
     time 54.00   tot 177.66
   [11]     qtv    move STBD_TURN   dir SOUTH_WEST  loc 353,350  DistToNext 1.414214
    Speed 0, FLAG 1
     time  0.00   tot 177.66
   [12]     qtv    move FORWARD   dir SOUTH_WEST  loc 352,349  DistToNext 56.568542
    Speed 2, FLAG 1
     time  1.27   tot 178.93
   [13]     qtv    move FORWARD   dir SOUTH_WEST  loc 312,309  DistToNext 0.000000
    Speed 2, FLAG 2
     time 50.91   tot 229.84
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir SOUTH_WEST  loc 873,263  DistToNext 0.000000
    Speed 2, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move PORT_TURN   dir SOUTH  loc 873,263  DistToNext 0.000000
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move STBD_TURN   dir SOUTH_WEST  loc 873,263  DistToNext 60.811184
    Speed 2, FLAG 1
     time  0.00   tot  0.00
   [ 3]     qtv    move FORWARD   dir SOUTH_WEST  loc 830,220  DistToNext 0.000000
    Speed 2, FLAG 1
     time 54.73   tot 54.73
   [ 4]     qtv    move STBD_TURN   dir WEST  loc 830,220  DistToNext 60.000000
    Speed 2, FLAG 1
     time  0.00   tot 54.73
   [ 5]     qtv    move FORWARD   dir WEST  loc 770,220  DistToNext 0.000000
    Speed 2, FLAG 1
     time 54.00   tot 108.73
   [ 6]     qtv    move STBD_TURN   dir NORTH_WEST  loc 770,220  DistToNext 0.000000
    Speed 2, FLAG 1
     time  0.00   tot 108.73
   [ 7]     qtv    move STBD_TURN   dir NORTH  loc 770,220  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot 108.73
   [ 8]     qtv    move FORWARD   dir NORTH  loc 770,280  DistToNext 0.000000
    Speed 4, FLAG 1
     time 27.00   tot 135.73
   [ 9]     qtv    move PORT_TURN   dir NORTH_WEST  loc 770,280  DistToNext 48.083260
    Speed 4, FLAG 1
     time  0.00   tot 135.73
   [10]     qtv    move FORWARD   dir NORTH_WEST  loc 736,314  DistToNext 38.183765
    Speed 2, FLAG 1
     time 43.27   tot 179.00
   [11]     qtv    move FORWARD   dir NORTH_WEST  loc 763,287  DistToNext 0.000000
    Speed 2, FLAG 2
     time 34.37   tot 213.37
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir NORTH_WEST  loc 190,-368  DistToNext 0.000000
    Speed 2, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move STBD_TURN   dir NORTH  loc 190,-368  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move FORWARD   dir NORTH  loc 190,-308  DistToNext 0.000000
    Speed 4, FLAG 1
     time 27.00   tot 27.00
   [ 3]     qtv    move STBD_TURN   dir NORTH_EAST  loc 190,-308  DistToNext 118.793938
    Speed 0, FLAG 1
     time  0.00   tot 27.00
   [ 4]     qtv    move FORWARD   dir NORTH_EAST  loc 274,-224  DistToNext 0.000000
    Speed 6, FLAG 1
     time 35.64   tot 62.64
   [ 5]     qtv    move STBD_TURN   dir EAST  loc 274,-224  DistToNext 120.000000
    Speed 0, FLAG 1
     time  0.00   tot 62.64
   [ 6]     qtv    move FORWARD   dir EAST  loc 394,-224  DistToNext 0.000000
    Speed 5, FLAG 1
     time 43.20   tot 105.84
   [ 7]     qtv    move STBD_TURN   dir SOUTH_EAST  loc 394,-224  DistToNext 118.793938
    Speed 0, FLAG 1
     time  0.00   tot 105.84
   [ 8]     qtv    move FORWARD   dir SOUTH_EAST  loc 478,-308  DistToNext 0.000000
    Speed 6, FLAG 1
     time 35.64   tot 141.48
   [ 9]     qtv    move STBD_TURN   dir SOUTH  loc 478,-308  DistToNext 84.000000
    Speed 0, FLAG 1
     time  0.00   tot 141.48
   [10]     qtv    move FORWARD   dir SOUTH  loc 478,-392  DistToNext 0.000000
    Speed 4, FLAG 1
     time 37.80   tot 179.27
  End Path <===
* ==> Start Path
   [ 0]     qtv    move NO_DIRECTION   dir NORTH_WEST  loc 1074,244  DistToNext 59.396969
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir NORTH_WEST  loc 1032,286  DistToNext 0.000000
    Speed 1, FLAG 1
     time 106.91   tot 106.91
   [ 2]     qtv    move STBD_TURN   dir NORTH  loc 1032,286  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot 106.91
   [ 3]     qtv    move FORWARD   dir NORTH  loc 1032,346  DistToNext 0.000000
    Speed 3, FLAG 1
     time 36.00   tot 142.91
   [ 4]     qtv    move STBD_TURN   dir NORTH_EAST  loc 1032,346  DistToNext 59.396969
    Speed 0, FLAG 1
     time  0.00   tot 142.91
   [ 5]     qtv    move FORWARD   dir NORTH_EAST  loc 1074,388  DistToNext 0.000000
    Speed 5, FLAG 1
     time 21.38   tot 164.30
   [ 6]     qtv    move STBD_TURN   dir EAST  loc 1074,388  DistToNext 32.000000
    Speed 0, FLAG 1
     time  0.00   tot 164.30
   [ 7]     qtv    move FORWARD   dir EAST  loc 1106,388  DistToNext 5.000000
    Speed 4, FLAG 1
     time 14.40   tot 178.70
   [ 8]     qtv    move FORWARD   dir EAST  loc 1101,388  DistToNext 0.000000
    Speed 4, FLAG 2
     time  2.25   tot 180.95
  End Path <===
* ==> Start Path
   [ 0]     qtv    move PORT_TURN   dir SOUTH_WEST  loc 225,-169  DistToNext 59.396969
    Speed 2, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir SOUTH_WEST  loc 183,-211  DistToNext 0.000000
    Speed 2, FLAG 1
     time 53.46   tot 53.46
   [ 2]     qtv    move PORT_TURN   dir SOUTH  loc 183,-211  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot 53.46
   [ 3]     qtv    move FORWARD   dir SOUTH  loc 183,-271  DistToNext 0.000000
    Speed 4, FLAG 1
     time 27.00   tot 80.46
   [ 4]     qtv    move PORT_TURN   dir SOUTH_EAST  loc 183,-271  DistToNext 59.396969
    Speed 0, FLAG 1
     time  0.00   tot 80.46
   [ 5]     qtv    move FORWARD   dir SOUTH_EAST  loc 225,-313  DistToNext 0.000000
    Speed 6, FLAG 1
     time 17.82   tot 98.28
   [ 6]     qtv    move PORT_TURN   dir EAST  loc 225,-313  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot 98.28
   [ 7]     qtv    move FORWARD   dir EAST  loc 285,-313  DistToNext 0.000000
    Speed 5, FLAG 1
     time 21.60   tot 119.88
   [ 8]     qtv    move PORT_TURN   dir NORTH_EAST  loc 285,-313  DistToNext 59.396969
    Speed 0, FLAG 1
     time  0.00   tot 119.88
   [ 9]     qtv    move FORWARD   dir NORTH_EAST  loc 327,-271  DistToNext 0.000000
    Speed 6, FLAG 1
     time 17.82   tot 137.69
   [10]     qtv    move PORT_TURN   dir NORTH  loc 327,-271  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot 137.69
   [11]     qtv    move FORWARD   dir NORTH  loc 327,-211  DistToNext 0.000000
    Speed 4, FLAG 1
     time 27.00   tot 164.69
   [12]     qtv    move PORT_TURN   dir NORTH_WEST  loc 327,-211  DistToNext 15.556349
    Speed 0, FLAG 1
     time  0.00   tot 164.69
   [13]     qtv    move FORWARD   dir NORTH_WEST  loc 316,-200  DistToNext 28.284271
    Speed 2, FLAG 1
     time 14.00   tot 178.69
   [14]     qtv    move FORWARD   dir NORTH_WEST  loc 296,-180  DistToNext 0.000000
    Speed 2, FLAG 2
     time 25.46   tot 204.15
  End Path <===
* ==> Start Path
   [ 0]     qtv    move STBD_TURN   dir SOUTH  loc 1752,-1248  DistToNext 0.000000
    Speed 6, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move STBD_TURN   dir SOUTH_WEST  loc 1752,-1248  DistToNext 41.012192
    Speed 6, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move FORWARD   dir SOUTH_WEST  loc 1723,-1277  DistToNext 0.000000
    Speed 2, FLAG 1
     time 36.91   tot 36.91
   [ 3]     qtv    move STBD_TURN   dir WEST  loc 1723,-1277  DistToNext 40.000000
    Speed 2, FLAG 1
     time  0.00   tot 36.91
   [ 4]     qtv    move FORWARD   dir WEST  loc 1683,-1277  DistToNext 0.000000
    Speed 2, FLAG 1
     time 36.00   tot 72.91
   [ 5]     qtv    move STBD_TURN   dir NORTH_WEST  loc 1683,-1277  DistToNext 0.000000
    Speed 2, FLAG 1
     time  0.00   tot 72.91
   [ 6]     qtv    move STBD_TURN   dir NORTH  loc 1683,-1277  DistToNext 40.000000
    Speed 0, FLAG 1
     time  0.00   tot 72.91
   [ 7]     qtv    move FORWARD   dir NORTH  loc 1683,-1237  DistToNext 0.000000
    Speed 6, FLAG 1
     time 12.00   tot 84.91
   [ 8]     qtv    move PORT_TURN   dir NORTH_WEST  loc 1683,-1237  DistToNext 104.651802
    Speed 6, FLAG 1
     time  0.00   tot 84.91
   [ 9]     qtv    move FORWARD   dir NORTH_WEST  loc 1609,-1163  DistToNext 0.000000
    Speed 2, FLAG 1
     time 94.19   tot 179.10
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir WEST  loc 1286,-1493  DistToNext 50.000000
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir WEST  loc 1336,-1493  DistToNext 0.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
   [ 2]     qtv    move PORT_TURN   dir SOUTH_WEST  loc 1336,-1493  DistToNext 50.000000
    Speed 0, FLAG 1
     time  0.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir SOUTH  loc 2219,-1335  DistToNext 0.000000
    Speed 4, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move STBD_TURN   dir SOUTH_WEST  loc 2219,-1335  DistToNext 60.811184
    Speed 4, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move FORWARD   dir SOUTH_WEST  loc 2176,-1378  DistToNext 0.000000
    Speed 2, FLAG 1
     time 54.73   tot 54.73
   [ 3]     qtv    move STBD_TURN   dir WEST  loc 2176,-1378  DistToNext 60.000000
    Speed 2, FLAG 1
     time  0.00   tot 54.73
   [ 4]     qtv    move FORWARD   dir WEST  loc 2116,-1378  DistToNext 0.000000
    Speed 2, FLAG 1
     time 54.00   tot 108.73
   [ 5]     qtv    move STBD_TURN   dir NORTH_WEST  loc 2116,-1378  DistToNext 0.000000
    Speed 2, FLAG 1
     time  0.00   tot 108.73
   [ 6]     qtv    move STBD_TURN   dir NORTH  loc 2116,-1378  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot 108.73
   [ 7]     qtv    move FORWARD   dir NORTH  loc 2116,-1318  DistToNext 0.000000
    Speed 4, FLAG 1
     time 27.00   tot 135.73
   [ 8]     qtv    move PORT_TURN   dir NORTH_WEST  loc 2116,-1318  DistToNext 48.083260
    Speed 4, FLAG 1
     time  0.00   tot 135.73
   [ 9]     qtv    move FORWARD   dir NORTH_WEST  loc 2082,-1284  DistToNext 38.183765
    Speed 2, FLAG 1
     time 43.27   tot 179.00
   [10]     qtv    move FORWARD   dir NORTH_WEST  loc 2109,-1311  DistToNext 0.000000
    Speed 2, FLAG 2
     time 34.37   tot 213.37
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir WEST  loc 1988,-1104  DistToNext 50.000000
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir WEST  loc 2038,-1104  DistToNext 50.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir NORTH  loc 1394,-816  DistToNext 50.000000
    Speed 4, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir NORTH  loc 1444,-816  DistToNext 50.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir SOUTH_WEST  loc 1702,-1176  DistToNext 0.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move BACK_SAIL   dir SOUTH  loc 1702,-1176  DistToNext 70.000000
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move PORT_TURN   dir SOUTH  loc 1702,-1176  DistToNext 70.000000
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 3]     qtv    move FORWARD   dir SOUTH  loc 1702,-1246  DistToNext 0.000000
    Speed 2, FLAG 1
     time 63.00   tot 63.00
   [ 4]     qtv    move PORT_TURN   dir SOUTH_EAST  loc 1702,-1246  DistToNext 69.296463
    Speed 0, FLAG 1
     time  0.00   tot 63.00
   [ 5]     qtv    move FORWARD   dir SOUTH_EAST  loc 1751,-1295  DistToNext 0.000000
    Speed 4, FLAG 1
     time 31.18   tot 94.18
   [ 6]     qtv    move PORT_TURN   dir EAST  loc 1751,-1295  DistToNext 70.000000
    Speed 0, FLAG 1
     time  0.00   tot 94.18
   [ 7]     qtv    move FORWARD   dir EAST  loc 1821,-1295  DistToNext 0.000000
    Speed 3, FLAG 1
     time 42.00   tot 136.18
   [ 8]     qtv    move PORT_TURN   dir NORTH_EAST  loc 1821,-1295  DistToNext 69.296463
    Speed 0, FLAG 1
     time  0.00   tot 136.18
   [ 9]     qtv    move FORWARD   dir NORTH_EAST  loc 1870,-1246  DistToNext 0.000000
    Speed 4, FLAG 1
     time 31.18   tot 167.37
   [10]     qtv    move PORT_TURN   dir NORTH  loc 1870,-1246  DistToNext 83.000000
    Speed 0, FLAG 1
     time  0.00   tot 167.37
   [11]     qtv    move FORWARD   dir NORTH  loc 1870,-1163  DistToNext 0.000000
    Speed 3, FLAG 1
     time 49.80   tot 217.17
   [12]     qtv    move NO_DIRECTION   dir NORTH  loc 1870,-1163  DistToNext 70.000000
    Speed 0, FLAG 1
     time  0.00   tot 217.17
  End Path <===
* ==> Start Path
   [ 0]     qtv    move STBD_TURN   dir NORTH_WEST  loc 1688,-1098  DistToNext 98.994949
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir NORTH_WEST  loc 1618,-1028  DistToNext 0.000000
    Speed 1, FLAG 1
     time 178.19   tot 178.19
  End Path <===
* ==> Start Path
   [ 0]     qtv    move STBD_TURN   dir NORTH_WEST  loc -568,-122  DistToNext 199.404114
    Speed 2, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir NORTH_WEST  loc -709,19  DistToNext 0.000000
    Speed 2, FLAG 1
     time 179.46   tot 179.46
  End Path <===
* ==> Start Path
   [ 0]     qtv    move STBD_TURN   dir NORTH_EAST  loc 270,834  DistToNext 39.597980
    Speed 8, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir NORTH_EAST  loc 298,862  DistToNext 0.000000
    Speed 8, FLAG 1
     time  8.91   tot  8.91
   [ 2]     qtv    move STBD_TURN   dir EAST  loc 298,862  DistToNext 40.000000
    Speed 0, FLAG 1
     time  0.00   tot  8.91
   [ 3]     qtv    move FORWARD   dir EAST  loc 338,862  DistToNext 0.000000
    Speed 6, FLAG 1
     time 12.00   tot 20.91
   [ 4]     qtv    move STBD_TURN   dir SOUTH_EAST  loc 338,862  DistToNext 705.692566
    Speed 0, FLAG 1
     time  0.00   tot 20.91
   [ 5]     qtv    move FORWARD   dir SOUTH_EAST  loc 837,363  DistToNext 0.000000
    Speed 8, FLAG 1
     time 158.78   tot 179.69
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir EAST  loc 1361,-850  DistToNext 50.000000
    Speed 5, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir EAST  loc 1411,-850  DistToNext 50.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir SOUTH  loc 680,-398  DistToNext 0.000000
    Speed 4, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move PORT_TURN   dir SOUTH_EAST  loc 680,-398  DistToNext 599.626526
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move FORWARD   dir SOUTH_EAST  loc 1104,-822  DistToNext 0.000000
    Speed 6, FLAG 1
     time 179.89   tot 179.89
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir SOUTH_WEST  loc 352,349  DistToNext 0.000000
    Speed 2, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move PORT_TURN   dir SOUTH  loc 352,349  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move FORWARD   dir SOUTH  loc 352,289  DistToNext 0.000000
    Speed 4, FLAG 1
     time 27.00   tot 27.00
   [ 3]     qtv    move PORT_TURN   dir SOUTH_EAST  loc 352,289  DistToNext 509.116882
    Speed 0, FLAG 1
     time  0.00   tot 27.00
   [ 4]     qtv    move FORWARD   dir SOUTH_EAST  loc 712,-71  DistToNext 0.000000
    Speed 6, FLAG 1
     time 152.73   tot 179.73
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir NORTH_WEST  loc 736,314  DistToNext 199.404114
    Speed 2, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir NORTH_WEST  loc 595,455  DistToNext 0.000000
    Speed 2, FLAG 1
     time 179.46   tot 179.46
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir SOUTH  loc 478,-392  DistToNext 0.000000
    Speed 4, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move PORT_TURN   dir SOUTH_EAST  loc 478,-392  DistToNext 599.626526
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move FORWARD   dir SOUTH_EAST  loc 902,-816  DistToNext 0.000000
    Speed 6, FLAG 1
     time 179.89   tot 179.89
  End Path <===
* ==> Start Path
   [ 0]     qtv    move NO_DIRECTION   dir EAST  loc 1106,388  DistToNext 60.000000
    Speed 3, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir EAST  loc 1166,388  DistToNext 0.000000
    Speed 3, FLAG 1
     time 36.00   tot 36.00
   [ 2]     qtv    move STBD_TURN   dir SOUTH_EAST  loc 1166,388  DistToNext 59.396969
    Speed 0, FLAG 1
     time  0.00   tot 36.00
   [ 3]     qtv    move FORWARD   dir SOUTH_EAST  loc 1208,346  DistToNext 0.000000
    Speed 4, FLAG 1
     time 26.73   tot 62.73
   [ 4]     qtv    move STBD_TURN   dir SOUTH  loc 1208,346  DistToNext 130.000000
    Speed 0, FLAG 1
     time  0.00   tot 62.73
   [ 5]     qtv    move FORWARD   dir SOUTH  loc 1208,216  DistToNext 0.000000
    Speed 2, FLAG 1
     time 117.00   tot 179.73
  End Path <===
* ==> Start Path
   [ 0]     qtv    move PORT_TURN   dir NORTH_WEST  loc 316,-200  DistToNext 199.404114
    Speed 2, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir NORTH_WEST  loc 175,-59  DistToNext 0.000000
    Speed 2, FLAG 1
     time 179.46   tot 179.46
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir WEST  loc 1729,-1277  DistToNext 50.000000
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir WEST  loc 1779,-1277  DistToNext 50.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move PORT_TURN   dir SOUTH_WEST  loc 1336,-1493  DistToNext 39.597980
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir SOUTH_WEST  loc 1308,-1521  DistToNext 0.000000
    Speed 1, FLAG 1
     time 71.28   tot 71.28
   [ 2]     qtv    move PORT_TURN   dir SOUTH  loc 1308,-1521  DistToNext 40.000000
    Speed 0, FLAG 1
     time  0.00   tot 71.28
   [ 3]     qtv    move FORWARD   dir SOUTH  loc 1308,-1561  DistToNext 0.000000
    Speed 4, FLAG 1
     time 18.00   tot 89.28
   [ 4]     qtv    move PORT_TURN   dir SOUTH_EAST  loc 1308,-1561  DistToNext 39.597980
    Speed 0, FLAG 1
     time  0.00   tot 89.28
   [ 5]     qtv    move FORWARD   dir SOUTH_EAST  loc 1336,-1589  DistToNext 0.000000
    Speed 5, FLAG 1
     time 14.26   tot 103.53
   [ 6]     qtv    move PORT_TURN   dir EAST  loc 1336,-1589  DistToNext 40.000000
    Speed 0, FLAG 1
     time  0.00   tot 103.53
   [ 7]     qtv    move FORWARD   dir EAST  loc 1376,-1589  DistToNext 0.000000
    Speed 5, FLAG 1
     time 14.40   tot 117.93
   [ 8]     qtv    move PORT_TURN   dir NORTH_EAST  loc 1376,-1589  DistToNext 39.597980
    Speed 0, FLAG 1
     time  0.00   tot 117.93
   [ 9]     qtv    move FORWARD   dir NORTH_EAST  loc 1404,-1561  DistToNext 0.000000
    Speed 5, FLAG 1
     time 14.26   tot 132.19
   [10]     qtv    move PORT_TURN   dir NORTH  loc 1404,-1561  DistToNext 104.000000
    Speed 0, FLAG 1
     time  0.00   tot 132.19
   [11]     qtv    move FORWARD   dir NORTH  loc 1404,-1457  DistToNext 0.000000
    Speed 4, FLAG 1
     time 46.80   tot 178.99
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir NORTH_WEST  loc 2082,-1284  DistToNext 199.404114
    Speed 2, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir NORTH_WEST  loc 1941,-1143  DistToNext 0.000000
    Speed 2, FLAG 1
     time 179.46   tot 179.46
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir WEST  loc 2038,-1104  DistToNext 50.000000
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir WEST  loc 2088,-1104  DistToNext 0.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
   [ 2]     qtv    move PORT_TURN   dir SOUTH_WEST  loc 2088,-1104  DistToNext 50.000000
    Speed 0, FLAG 1
     time  0.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move STBD_TURN   dir NORTH_EAST  loc 1354,-726  DistToNext 59.396969
    Speed 4, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir NORTH_EAST  loc 1396,-684  DistToNext 0.000000
    Speed 4, FLAG 1
     time 26.73   tot 26.73
   [ 2]     qtv    move PORT_TURN   dir NORTH  loc 1396,-684  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot 26.73
   [ 3]     qtv    move FORWARD   dir NORTH  loc 1396,-624  DistToNext 0.000000
    Speed 3, FLAG 1
     time 36.00   tot 62.73
   [ 4]     qtv    move PORT_TURN   dir NORTH_WEST  loc 1396,-624  DistToNext 63.639610
    Speed 0, FLAG 1
     time  0.00   tot 62.73
   [ 5]     qtv    move FORWARD   dir NORTH_WEST  loc 1351,-579  DistToNext 0.000000
    Speed 1, FLAG 1
     time 114.55   tot 177.28
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir SOUTH  loc 1645,-1148  DistToNext 0.000000
    Speed 2, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move PORT_TURN   dir SOUTH_EAST  loc 1645,-1148  DistToNext 69.296463
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move FORWARD   dir SOUTH_EAST  loc 1694,-1197  DistToNext 0.000000
    Speed 4, FLAG 1
     time 31.18   tot 31.18
   [ 3]     qtv    move PORT_TURN   dir EAST  loc 1694,-1197  DistToNext 70.000000
    Speed 0, FLAG 1
     time  0.00   tot 31.18
   [ 4]     qtv    move FORWARD   dir EAST  loc 1764,-1197  DistToNext 0.000000
    Speed 3, FLAG 1
     time 42.00   tot 73.18
   [ 5]     qtv    move PORT_TURN   dir NORTH_EAST  loc 1764,-1197  DistToNext 69.296463
    Speed 0, FLAG 1
     time  0.00   tot 73.18
   [ 6]     qtv    move FORWARD   dir NORTH_EAST  loc 1813,-1148  DistToNext 0.000000
    Speed 4, FLAG 1
     time 31.18   tot 104.37
   [ 7]     qtv    move PORT_TURN   dir NORTH  loc 1813,-1148  DistToNext 70.000000
    Speed 0, FLAG 1
     time  0.00   tot 104.37
   [ 8]     qtv    move FORWARD   dir NORTH  loc 1813,-1078  DistToNext 0.000000
    Speed 2, FLAG 1
     time 63.00   tot 167.37
   [ 9]     qtv    move PORT_TURN   dir NORTH_WEST  loc 1813,-1078  DistToNext 5.656854
    Speed 0, FLAG 1
     time  0.00   tot 167.37
   [10]     qtv    move FORWARD   dir NORTH_WEST  loc 1809,-1074  DistToNext 56.568542
    Speed 1, FLAG 1
     time 10.18   tot 177.55
   [11]     qtv    move FORWARD   dir NORTH_WEST  loc 1769,-1034  DistToNext 0.000000
    Speed 1, FLAG 2
     time 101.82   tot 279.37
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir NORTH_WEST  loc 1618,-1028  DistToNext 0.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move BACK_SAIL   dir NORTH  loc 1618,-1028  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move STBD_TURN   dir NORTH  loc 1618,-1028  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 3]     qtv    move FORWARD   dir NORTH  loc 1618,-968  DistToNext 0.000000
    Speed 2, FLAG 1
     time 54.00   tot 54.00
   [ 4]     qtv    move STBD_TURN   dir NORTH_EAST  loc 1618,-968  DistToNext 59.396969
    Speed 0, FLAG 1
     time  0.00   tot 54.00
   [ 5]     qtv    move FORWARD   dir NORTH_EAST  loc 1660,-926  DistToNext 0.000000
    Speed 4, FLAG 1
     time 26.73   tot 80.73
   [ 6]     qtv    move STBD_TURN   dir EAST  loc 1660,-926  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot 80.73
   [ 7]     qtv    move FORWARD   dir EAST  loc 1720,-926  DistToNext 0.000000
    Speed 3, FLAG 1
     time 36.00   tot 116.73
   [ 8]     qtv    move STBD_TURN   dir SOUTH_EAST  loc 1720,-926  DistToNext 59.396969
    Speed 0, FLAG 1
     time  0.00   tot 116.73
   [ 9]     qtv    move FORWARD   dir SOUTH_EAST  loc 1762,-968  DistToNext 0.000000
    Speed 4, FLAG 1
     time 26.73   tot 143.46
   [10]     qtv    move STBD_TURN   dir SOUTH  loc 1762,-968  DistToNext 29.000000
    Speed 0, FLAG 1
     time  0.00   tot 143.46
   [11]     qtv    move FORWARD   dir SOUTH  loc 1762,-997  DistToNext 1.000000
    Speed 3, FLAG 1
     time 17.40   tot 160.86
   [12]     qtv    move FORWARD   dir SOUTH  loc 1762,-998  DistToNext 0.000000
    Speed 3, FLAG 2
     time  0.60   tot 161.46
   [13]     qtv    move NO_DIRECTION   dir SOUTH  loc 1762,-998  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot 161.46
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir NORTH_WEST  loc -709,19  DistToNext 0.000000
    Speed 2, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move STBD_TURN   dir NORTH  loc -709,19  DistToNext 40.000000
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move FORWARD   dir NORTH  loc -709,59  DistToNext 0.000000
    Speed 4, FLAG 1
     time 18.00   tot 18.00
   [ 3]     qtv    move STBD_TURN   dir NORTH_EAST  loc -709,59  DistToNext 39.597980
    Speed 0, FLAG 1
     time  0.00   tot 18.00
   [ 4]     qtv    move FORWARD   dir NORTH_EAST  loc -681,87  DistToNext 0.000000
    Speed 6, FLAG 1
     time 11.88   tot 29.88
   [ 5]     qtv    move STBD_TURN   dir EAST  loc -681,87  DistToNext 416.000000
    Speed 0, FLAG 1
     time  0.00   tot 29.88
   [ 6]     qtv    move FORWARD   dir EAST  loc -265,87  DistToNext 0.000000
    Speed 5, FLAG 1
     time 149.76   tot 179.64
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir SOUTH_EAST  loc 837,363  DistToNext 0.000000
    Speed 8, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move STBD_TURN   dir SOUTH  loc 837,363  DistToNext 40.000000
    Speed 8, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move FORWARD   dir SOUTH  loc 837,323  DistToNext 0.000000
    Speed 5, FLAG 1
     time 14.40   tot 14.40
   [ 3]     qtv    move STBD_TURN   dir SOUTH_WEST  loc 837,323  DistToNext 41.012192
    Speed 5, FLAG 1
     time  0.00   tot 14.40
   [ 4]     qtv    move FORWARD   dir SOUTH_WEST  loc 808,294  DistToNext 0.000000
    Speed 2, FLAG 1
     time 36.91   tot 51.31
   [ 5]     qtv    move STBD_TURN   dir WEST  loc 808,294  DistToNext 0.000000
    Speed 2, FLAG 1
     time  0.00   tot 51.31
   [ 6]     qtv    move STBD_TURN   dir NORTH_WEST  loc 808,294  DistToNext 80.610176
    Speed 0, FLAG 1
     time  0.00   tot 51.31
   [ 7]     qtv    move FORWARD   dir NORTH_WEST  loc 751,351  DistToNext 0.000000
    Speed 2, FLAG 1
     time 72.55   tot 123.86
   [ 8]     qtv    move PORT_TURN   dir WEST  loc 751,351  DistToNext 40.000000
    Speed 0, FLAG 1
     time  0.00   tot 123.86
   [ 9]     qtv    move FORWARD   dir WEST  loc 711,351  DistToNext 0.000000
    Speed 0, FLAG 1
     time   inf   tot   inf
   [10]     qtv    move PORT_TURN   dir SOUTH_WEST  loc 711,351  DistToNext 41.012192
    Speed 0, FLAG 1
     time  0.00   tot   inf
   [11]     qtv    move FORWARD   dir SOUTH_WEST  loc 682,322  DistToNext 0.000000
    Speed 2, FLAG 1
     time 36.91   tot   inf
   [12]     qtv    move PORT_TURN   dir SOUTH  loc 682,322  DistToNext 0.000000
    Speed 2, FLAG 1
     time  0.00   tot   inf
   [13]     qtv    move PORT_TURN   dir SOUTH_EAST  loc 682,322  DistToNext 41.012192
    Speed 0, FLAG 1
     time  0.00   tot   inf
   [14]     qtv    move FORWARD   dir SOUTH_EAST  loc 711,293  DistToNext 0.000000
    Speed 8, FLAG 1
     time  9.23   tot   inf
   [15]     qtv    move STBD_TURN   dir SOUTH  loc 711,293  DistToNext 40.000000
    Speed 8, FLAG 1
     time  0.00   tot   inf
   [16]     qtv    move FORWARD   dir SOUTH  loc 711,253  DistToNext 0.000000
    Speed 5, FLAG 1
     time 14.40   tot   inf
   [17]     qtv    move STBD_TURN   dir SOUTH_WEST  loc 711,253  DistToNext 41.012192
    Speed 0, FLAG 1
     time  0.00   tot   inf
   [18]     qtv    move FORWARD   dir SOUTH_WEST  loc 682,224  DistToNext 0.000000
    Speed 2, FLAG 1
     time 36.91   tot   inf
   [19]     qtv    move STBD_TURN   dir WEST  loc 682,224  DistToNext 40.000000
    Speed 2, FLAG 1
     time  0.00   tot   inf
   [20]     qtv    move FORWARD   dir WEST  loc 642,224  DistToNext 0.000000
    Speed 2, FLAG 1
     time 36.00   tot   inf
   [21]     qtv    move STBD_TURN   dir NORTH_WEST  loc 642,224  DistToNext 0.000000
    Speed 2, FLAG 1
     time  0.00   tot   inf
   [22]     qtv    move STBD_TURN   dir NORTH  loc 642,224  DistToNext 40.000000
    Speed 0, FLAG 1
     time  0.00   tot   inf
   [23]     qtv    move FORWARD   dir NORTH  loc 642,264  DistToNext 0.000000
    Speed 5, FLAG 1
     time 14.40   tot   inf
   [24]     qtv    move STBD_TURN   dir NORTH_EAST  loc 642,264  DistToNext 39.597980
    Speed 5, FLAG 1
     time  0.00   tot   inf
   [25]     qtv    move FORWARD   dir NORTH_EAST  loc 670,292  DistToNext 0.000000
    Speed 8, FLAG 1
     time  8.91   tot   inf
   [26]     qtv    move PORT_TURN   dir NORTH  loc 670,292  DistToNext 40.000000
    Speed 0, FLAG 1
     time  0.00   tot   inf
   [27]     qtv    move FORWARD   dir NORTH  loc 670,332  DistToNext 0.000000
    Speed 5, FLAG 1
     time 14.40   tot   inf
   [28]     qtv    move PORT_TURN   dir NORTH_WEST  loc 670,332  DistToNext 41.012192
    Speed 5, FLAG 1
     time  0.00   tot   inf
   [29]     qtv    move FORWARD   dir NORTH_WEST  loc 641,361  DistToNext 0.000000
    Speed 2, FLAG 1
     time 36.91   tot   inf
   [30]     qtv    move PORT_TURN   dir WEST  loc 641,361  DistToNext 0.000000
    Speed 2, FLAG 1
     time  0.00   tot   inf
   [31]     qtv    move PORT_TURN   dir SOUTH_WEST  loc 641,361  DistToNext 41.012192
    Speed 0, FLAG 1
     time  0.00   tot   inf
   [32]     qtv    move FORWARD   dir SOUTH_WEST  loc 612,332  DistToNext 0.000000
    Speed 2, FLAG 1
     time 36.91   tot   inf
   [33]     qtv    move STBD_TURN   dir WEST  loc 612,332  DistToNext -inf
    Speed 2, FLAG 1
     time  0.00   tot   inf
   [34]     qtv    move FORWARD   dir WEST  loc -2147483036,332  DistToNext 0.000000
    Speed -1, FLAG 1
     time  -inf   tot  -nan
   [35]     qtv    move STBD_TURN   dir NORTH_WEST  loc -2147483036,332  DistToNext -inf
    Speed 0, FLAG 1
     time  0.00   tot  -nan
  End Path <===
* ==> Start Path
   [ 0]     qtv    move STBD_TURN   dir SOUTH_EAST  loc 1321,-760  DistToNext 50.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir SOUTH_EAST  loc 1371,-760  DistToNext 0.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
   [ 2]     qtv    move PORT_TURN   dir EAST  loc 1371,-760  DistToNext 50.000000
    Speed 0, FLAG 1
     time  0.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir SOUTH_EAST  loc 1104,-822  DistToNext 0.000000
    Speed 6, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move PORT_TURN   dir EAST  loc 1104,-822  DistToNext 500.000000
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move FORWARD   dir EAST  loc 1604,-822  DistToNext 0.000000
    Speed 5, FLAG 1
     time 180.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir SOUTH_EAST  loc 712,-71  DistToNext 0.000000
    Speed 6, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move PORT_TURN   dir EAST  loc 712,-71  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move FORWARD   dir EAST  loc 772,-71  DistToNext 0.000000
    Speed 5, FLAG 1
     time 21.60   tot 21.60
   [ 3]     qtv    move PORT_TURN   dir NORTH_EAST  loc 772,-71  DistToNext 59.396969
    Speed 0, FLAG 1
     time  0.00   tot 21.60
   [ 4]     qtv    move FORWARD   dir NORTH_EAST  loc 814,-29  DistToNext 0.000000
    Speed 6, FLAG 1
     time 17.82   tot 39.42
   [ 5]     qtv    move PORT_TURN   dir NORTH  loc 814,-29  DistToNext 120.000000
    Speed 0, FLAG 1
     time  0.00   tot 39.42
   [ 6]     qtv    move FORWARD   dir NORTH  loc 814,91  DistToNext 0.000000
    Speed 4, FLAG 1
     time 54.00   tot 93.42
   [ 7]     qtv    move PORT_TURN   dir NORTH_WEST  loc 814,91  DistToNext 60.811184
    Speed 0, FLAG 1
     time  0.00   tot 93.42
   [ 8]     qtv    move FORWARD   dir NORTH_WEST  loc 771,134  DistToNext 0.000000
    Speed 2, FLAG 1
     time 54.73   tot 148.15
   [ 9]     qtv    move PORT_TURN   dir WEST  loc 771,134  DistToNext 60.000000
    Speed 2, FLAG 1
     time  0.00   tot 148.15
   [10]     qtv    move FORWARD   dir WEST  loc 711,134  DistToNext 0.000000
    Speed 2, FLAG 1
     time 54.00   tot 202.15
   [11]     qtv    move PORT_TURN   dir SOUTH_WEST  loc 711,134  DistToNext 0.000000
    Speed 2, FLAG 1
     time  0.00   tot 202.15
   [12]     qtv    move PORT_TURN   dir SOUTH  loc 711,134  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot 202.15
   [13]     qtv    move FORWARD   dir SOUTH  loc 711,74  DistToNext 0.000000
    Speed 4, FLAG 1
     time 27.00   tot 229.15
   [14]     qtv    move STBD_TURN   dir SOUTH_WEST  loc 711,74  DistToNext 94.752312
    Speed 4, FLAG 1
     time  0.00   tot 229.15
   [15]     qtv    move FORWARD   dir SOUTH_WEST  loc 644,7  DistToNext 0.000000
    Speed 2, FLAG 1
     time 85.28   tot 314.42
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir NORTH_WEST  loc 595,455  DistToNext 0.000000
    Speed 2, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move BACK_SAIL   dir NORTH  loc 595,455  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move STBD_TURN   dir NORTH  loc 595,455  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 3]     qtv    move FORWARD   dir NORTH  loc 595,515  DistToNext 0.000000
    Speed 3, FLAG 1
     time 36.00   tot 36.00
   [ 4]     qtv    move STBD_TURN   dir NORTH_EAST  loc 595,515  DistToNext 59.396969
    Speed 0, FLAG 1
     time  0.00   tot 36.00
   [ 5]     qtv    move FORWARD   dir NORTH_EAST  loc 637,557  DistToNext 0.000000
    Speed 5, FLAG 1
     time 21.38   tot 57.38
   [ 6]     qtv    move STBD_TURN   dir EAST  loc 637,557  DistToNext 120.000000
    Speed 0, FLAG 1
     time  0.00   tot 57.38
   [ 7]     qtv    move FORWARD   dir EAST  loc 757,557  DistToNext 0.000000
    Speed 4, FLAG 1
     time 54.00   tot 111.38
   [ 8]     qtv    move STBD_TURN   dir SOUTH_EAST  loc 757,557  DistToNext 118.793938
    Speed 0, FLAG 1
     time  0.00   tot 111.38
   [ 9]     qtv    move FORWARD   dir SOUTH_EAST  loc 841,473  DistToNext 0.000000
    Speed 5, FLAG 1
     time 42.77   tot 154.15
   [10]     qtv    move STBD_TURN   dir SOUTH  loc 841,473  DistToNext 102.000000
    Speed 0, FLAG 1
     time  0.00   tot 154.15
   [11]     qtv    move FORWARD   dir SOUTH  loc 841,371  DistToNext 0.000000
    Speed 4, FLAG 1
     time 45.90   tot 200.05
   [12]     qtv    move NO_DIRECTION   dir SOUTH  loc 841,371  DistToNext 120.000000
    Speed 0, FLAG 1
     time  0.00   tot 200.05
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir SOUTH_EAST  loc 902,-816  DistToNext 0.000000
    Speed 6, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move PORT_TURN   dir EAST  loc 902,-816  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move FORWARD   dir EAST  loc 962,-816  DistToNext 0.000000
    Speed 5, FLAG 1
     time 21.60   tot 21.60
   [ 3]     qtv    move PORT_TURN   dir NORTH_EAST  loc 962,-816  DistToNext 59.396969
    Speed 0, FLAG 1
     time  0.00   tot 21.60
   [ 4]     qtv    move FORWARD   dir NORTH_EAST  loc 1004,-774  DistToNext 0.000000
    Speed 6, FLAG 1
     time 17.82   tot 39.42
   [ 5]     qtv    move PORT_TURN   dir NORTH  loc 1004,-774  DistToNext 120.000000
    Speed 0, FLAG 1
     time  0.00   tot 39.42
   [ 6]     qtv    move FORWARD   dir NORTH  loc 1004,-654  DistToNext 0.000000
    Speed 4, FLAG 1
     time 54.00   tot 93.42
   [ 7]     qtv    move PORT_TURN   dir NORTH_WEST  loc 1004,-654  DistToNext 60.811184
    Speed 0, FLAG 1
     time  0.00   tot 93.42
   [ 8]     qtv    move FORWARD   dir NORTH_WEST  loc 961,-611  DistToNext 0.000000
    Speed 2, FLAG 1
     time 54.73   tot 148.15
   [ 9]     qtv    move PORT_TURN   dir WEST  loc 961,-611  DistToNext 60.000000
    Speed 2, FLAG 1
     time  0.00   tot 148.15
   [10]     qtv    move FORWARD   dir WEST  loc 901,-611  DistToNext 0.000000
    Speed 2, FLAG 1
     time 54.00   tot 202.15
   [11]     qtv    move PORT_TURN   dir SOUTH_WEST  loc 901,-611  DistToNext 0.000000
    Speed 2, FLAG 1
     time  0.00   tot 202.15
   [12]     qtv    move PORT_TURN   dir SOUTH  loc 901,-611  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot 202.15
   [13]     qtv    move FORWARD   dir SOUTH  loc 901,-671  DistToNext 0.000000
    Speed 4, FLAG 1
     time 27.00   tot 229.15
   [14]     qtv    move STBD_TURN   dir SOUTH_WEST  loc 901,-671  DistToNext 94.752312
    Speed 4, FLAG 1
     time  0.00   tot 229.15
   [15]     qtv    move FORWARD   dir SOUTH_WEST  loc 834,-738  DistToNext 0.000000
    Speed 2, FLAG 1
     time 85.28   tot 314.42
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir SOUTH  loc 1208,216  DistToNext 0.000000
    Speed 2, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move PORT_TURN   dir SOUTH_EAST  loc 1208,216  DistToNext 59.396969
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move FORWARD   dir SOUTH_EAST  loc 1250,174  DistToNext 0.000000
    Speed 3, FLAG 1
     time 35.64   tot 35.64
   [ 3]     qtv    move PORT_TURN   dir EAST  loc 1250,174  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot 35.64
   [ 4]     qtv    move FORWARD   dir EAST  loc 1310,174  DistToNext 0.000000
    Speed 3, FLAG 1
     time 36.00   tot 71.64
   [ 5]     qtv    move PORT_TURN   dir NORTH_EAST  loc 1310,174  DistToNext 59.396969
    Speed 0, FLAG 1
     time  0.00   tot 71.64
   [ 6]     qtv    move FORWARD   dir NORTH_EAST  loc 1352,216  DistToNext 0.000000
    Speed 3, FLAG 1
     time 35.64   tot 107.28
   [ 7]     qtv    move PORT_TURN   dir NORTH  loc 1352,216  DistToNext 80.000000
    Speed 0, FLAG 1
     time  0.00   tot 107.28
   [ 8]     qtv    move FORWARD   dir NORTH  loc 1352,296  DistToNext 0.000000
    Speed 2, FLAG 1
     time 72.00   tot 179.27
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir NORTH_WEST  loc 175,-59  DistToNext 0.000000
    Speed 2, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move STBD_TURN   dir NORTH  loc 175,-59  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move FORWARD   dir NORTH  loc 175,1  DistToNext 0.000000
    Speed 4, FLAG 1
     time 27.00   tot 27.00
   [ 3]     qtv    move STBD_TURN   dir NORTH_EAST  loc 175,1  DistToNext 118.793938
    Speed 0, FLAG 1
     time  0.00   tot 27.00
   [ 4]     qtv    move FORWARD   dir NORTH_EAST  loc 259,85  DistToNext 0.000000
    Speed 6, FLAG 1
     time 35.64   tot 62.64
   [ 5]     qtv    move STBD_TURN   dir EAST  loc 259,85  DistToNext 120.000000
    Speed 0, FLAG 1
     time  0.00   tot 62.64
   [ 6]     qtv    move FORWARD   dir EAST  loc 379,85  DistToNext 0.000000
    Speed 5, FLAG 1
     time 43.20   tot 105.84
   [ 7]     qtv    move STBD_TURN   dir SOUTH_EAST  loc 379,85  DistToNext 118.793938
    Speed 0, FLAG 1
     time  0.00   tot 105.84
   [ 8]     qtv    move FORWARD   dir SOUTH_EAST  loc 463,1  DistToNext 0.000000
    Speed 6, FLAG 1
     time 35.64   tot 141.48
   [ 9]     qtv    move STBD_TURN   dir SOUTH  loc 463,1  DistToNext 84.000000
    Speed 0, FLAG 1
     time  0.00   tot 141.48
   [10]     qtv    move FORWARD   dir SOUTH  loc 463,-83  DistToNext 0.000000
    Speed 4, FLAG 1
     time 37.80   tot 179.27
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir WEST  loc 1779,-1277  DistToNext 50.000000
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir WEST  loc 1829,-1277  DistToNext 0.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
   [ 2]     qtv    move STBD_TURN   dir NORTH_WEST  loc 1829,-1277  DistToNext 50.000000
    Speed 0, FLAG 1
     time  0.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir NORTH  loc 1404,-1457  DistToNext 0.000000
    Speed 4, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move STBD_TURN   dir NORTH_EAST  loc 1404,-1457  DistToNext 39.597980
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move FORWARD   dir NORTH_EAST  loc 1432,-1429  DistToNext 0.000000
    Speed 5, FLAG 1
     time 14.26   tot 14.26
   [ 3]     qtv    move STBD_TURN   dir EAST  loc 1432,-1429  DistToNext 40.000000
    Speed 0, FLAG 1
     time  0.00   tot 14.26
   [ 4]     qtv    move FORWARD   dir EAST  loc 1472,-1429  DistToNext 0.000000
    Speed 5, FLAG 1
     time 14.40   tot 28.66
   [ 5]     qtv    move STBD_TURN   dir SOUTH_EAST  loc 1472,-1429  DistToNext 39.597980
    Speed 0, FLAG 1
     time  0.00   tot 28.66
   [ 6]     qtv    move FORWARD   dir SOUTH_EAST  loc 1500,-1457  DistToNext 0.000000
    Speed 5, FLAG 1
     time 14.26   tot 42.91
   [ 7]     qtv    move STBD_TURN   dir SOUTH  loc 1500,-1457  DistToNext 40.000000
    Speed 0, FLAG 1
     time  0.00   tot 42.91
   [ 8]     qtv    move FORWARD   dir SOUTH  loc 1500,-1497  DistToNext 0.000000
    Speed 4, FLAG 1
     time 18.00   tot 60.91
   [ 9]     qtv    move STBD_TURN   dir SOUTH_WEST  loc 1500,-1497  DistToNext 39.597980
    Speed 0, FLAG 1
     time  0.00   tot 60.91
   [10]     qtv    move FORWARD   dir SOUTH_WEST  loc 1472,-1525  DistToNext 0.000000
    Speed 1, FLAG 1
     time 71.28   tot 132.19
   [11]     qtv    move STBD_TURN   dir WEST  loc 1472,-1525  DistToNext 13.281415
    Speed 0, FLAG 1
     time  0.00   tot 132.19
   [12]     qtv    move FORWARD   dir WEST  loc 1485,-1525  DistToNext 0.000000
    Speed -1, FLAG 1
     time 47.81   tot 180.00
   [13]     qtv    move PORT_TURN   dir SOUTH_WEST  loc 1485,-1525  DistToNext 13.281415
    Speed 0, FLAG 1
     time  0.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir NORTH_WEST  loc 1941,-1143  DistToNext 0.000000
    Speed 2, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move STBD_TURN   dir NORTH  loc 1941,-1143  DistToNext 0.000000
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move PORT_TURN   dir NORTH_WEST  loc 1941,-1143  DistToNext 60.811184
    Speed 2, FLAG 1
     time  0.00   tot  0.00
   [ 3]     qtv    move FORWARD   dir NORTH_WEST  loc 1898,-1100  DistToNext 0.000000
    Speed 2, FLAG 1
     time 54.73   tot 54.73
   [ 4]     qtv    move PORT_TURN   dir WEST  loc 1898,-1100  DistToNext 60.000000
    Speed 2, FLAG 1
     time  0.00   tot 54.73
   [ 5]     qtv    move FORWARD   dir WEST  loc 1838,-1100  DistToNext 0.000000
    Speed 2, FLAG 1
     time 54.00   tot 108.73
   [ 6]     qtv    move PORT_TURN   dir SOUTH_WEST  loc 1838,-1100  DistToNext 0.000000
    Speed 2, FLAG 1
     time  0.00   tot 108.73
   [ 7]     qtv    move PORT_TURN   dir SOUTH  loc 1838,-1100  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot 108.73
   [ 8]     qtv    move FORWARD   dir SOUTH  loc 1838,-1160  DistToNext 0.000000
    Speed 4, FLAG 1
     time 27.00   tot 135.73
   [ 9]     qtv    move PORT_TURN   dir SOUTH_EAST  loc 1838,-1160  DistToNext 118.793938
    Speed 4, FLAG 1
     time  0.00   tot 135.73
   [10]     qtv    move FORWARD   dir SOUTH_EAST  loc 1922,-1244  DistToNext 0.000000
    Speed 5, FLAG 1
     time 42.77   tot 178.49
   [11]     qtv    move STBD_TURN   dir SOUTH  loc 1922,-1244  DistToNext 2.000000
    Speed 0, FLAG 1
     time  0.00   tot 178.49
   [12]     qtv    move FORWARD   dir SOUTH  loc 1922,-1246  DistToNext 55.000000
    Speed 4, FLAG 1
     time  0.90   tot 179.39
   [13]     qtv    move FORWARD   dir SOUTH  loc 1922,-1301  DistToNext 0.000000
    Speed 4, FLAG 2
     time 24.75   tot 204.14
  End Path <===
* ==> Start Path
   [ 0]     qtv    move PORT_TURN   dir SOUTH_WEST  loc 2088,-1104  DistToNext 59.396969
    Speed 2, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir SOUTH_WEST  loc 2046,-1146  DistToNext 0.000000
    Speed 2, FLAG 1
     time 53.46   tot 53.46
   [ 2]     qtv    move PORT_TURN   dir SOUTH  loc 2046,-1146  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot 53.46
   [ 3]     qtv    move FORWARD   dir SOUTH  loc 2046,-1206  DistToNext 0.000000
    Speed 4, FLAG 1
     time 27.00   tot 80.46
   [ 4]     qtv    move PORT_TURN   dir SOUTH_EAST  loc 2046,-1206  DistToNext 59.396969
    Speed 0, FLAG 1
     time  0.00   tot 80.46
   [ 5]     qtv    move FORWARD   dir SOUTH_EAST  loc 2088,-1248  DistToNext 0.000000
    Speed 6, FLAG 1
     time 17.82   tot 98.28
   [ 6]     qtv    move PORT_TURN   dir EAST  loc 2088,-1248  DistToNext 225.000000
    Speed 0, FLAG 1
     time  0.00   tot 98.28
   [ 7]     qtv    move FORWARD   dir EAST  loc 2313,-1248  DistToNext 0.000000
    Speed 5, FLAG 1
     time 81.00   tot 179.27
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir NORTH_WEST  loc 1351,-579  DistToNext 0.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move STBD_TURN   dir NORTH  loc 1351,-579  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move FORWARD   dir NORTH  loc 1351,-519  DistToNext 0.000000
    Speed 3, FLAG 1
     time 36.00   tot 36.00
   [ 3]     qtv    move STBD_TURN   dir NORTH_EAST  loc 1351,-519  DistToNext 59.396969
    Speed 0, FLAG 1
     time  0.00   tot 36.00
   [ 4]     qtv    move FORWARD   dir NORTH_EAST  loc 1393,-477  DistToNext 0.000000
    Speed 4, FLAG 1
     time 26.73   tot 62.73
   [ 5]     qtv    move STBD_TURN   dir EAST  loc 1393,-477  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot 62.73
   [ 6]     qtv    move FORWARD   dir EAST  loc 1453,-477  DistToNext 0.000000
    Speed 3, FLAG 1
     time 36.00   tot 98.73
   [ 7]     qtv    move STBD_TURN   dir SOUTH_EAST  loc 1453,-477  DistToNext 179.605118
    Speed 0, FLAG 1
     time  0.00   tot 98.73
   [ 8]     qtv    move FORWARD   dir SOUTH_EAST  loc 1580,-604  DistToNext 0.000000
    Speed 4, FLAG 1
     time 80.82   tot 179.55
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir NORTH_WEST  loc 1809,-1074  DistToNext 0.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move STBD_TURN   dir NORTH  loc 1809,-1074  DistToNext 70.000000
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move FORWARD   dir NORTH  loc 1809,-1004  DistToNext 0.000000
    Speed 2, FLAG 1
     time 63.00   tot 63.00
   [ 3]     qtv    move STBD_TURN   dir NORTH_EAST  loc 1809,-1004  DistToNext 69.296463
    Speed 0, FLAG 1
     time  0.00   tot 63.00
   [ 4]     qtv    move FORWARD   dir NORTH_EAST  loc 1858,-955  DistToNext 0.000000
    Speed 4, FLAG 1
     time 31.18   tot 94.18
   [ 5]     qtv    move STBD_TURN   dir EAST  loc 1858,-955  DistToNext 140.000000
    Speed 0, FLAG 1
     time  0.00   tot 94.18
   [ 6]     qtv    move FORWARD   dir EAST  loc 1998,-955  DistToNext 0.000000
    Speed 3, FLAG 1
     time 84.00   tot 178.18
   [ 7]     qtv    move STBD_TURN   dir SOUTH_EAST  loc 1998,-955  DistToNext 2.828427
    Speed 0, FLAG 1
     time  0.00   tot 178.18
   [ 8]     qtv    move FORWARD   dir SOUTH_EAST  loc 2000,-957  DistToNext 63.639610
    Speed 4, FLAG 1
     time  1.27   tot 179.45
   [ 9]     qtv    move FORWARD   dir SOUTH_EAST  loc 2045,-1002  DistToNext 0.000000
    Speed 4, FLAG 2
     time 28.64   tot 208.09
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir SOUTH  loc 1762,-997  DistToNext 0.000000
    Speed 2, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move PORT_TURN   dir SOUTH_EAST  loc 1762,-997  DistToNext 59.396969
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move FORWARD   dir SOUTH_EAST  loc 1804,-1039  DistToNext 0.000000
    Speed 4, FLAG 1
     time 26.73   tot 26.73
   [ 3]     qtv    move PORT_TURN   dir EAST  loc 1804,-1039  DistToNext 120.000000
    Speed 0, FLAG 1
     time  0.00   tot 26.73
   [ 4]     qtv    move FORWARD   dir EAST  loc 1924,-1039  DistToNext 0.000000
    Speed 3, FLAG 1
     time 72.00   tot 98.73
   [ 5]     qtv    move STBD_TURN   dir SOUTH_EAST  loc 1924,-1039  DistToNext 60.811184
    Speed 0, FLAG 1
     time  0.00   tot 98.73
   [ 6]     qtv    move FORWARD   dir SOUTH_EAST  loc 1967,-1082  DistToNext 0.000000
    Speed 4, FLAG 1
     time 27.36   tot 126.09
   [ 7]     qtv    move STBD_TURN   dir SOUTH  loc 1967,-1082  DistToNext 60.000000
    Speed 4, FLAG 1
     time  0.00   tot 126.09
   [ 8]     qtv    move FORWARD   dir SOUTH  loc 1967,-1142  DistToNext 0.000000
    Speed 2, FLAG 1
     time 54.00   tot 180.09
   [ 9]     qtv    move STBD_TURN   dir SOUTH_WEST  loc 1967,-1142  DistToNext 0.000000
    Speed 2, FLAG 1
     time  0.00   tot 180.09
   [10]     qtv    move STBD_TURN   dir WEST  loc 1967,-1142  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot 180.09
   [11]     qtv    move FORWARD   dir WEST  loc 1907,-1142  DistToNext 0.000000
    Speed 2, FLAG 1
     time 54.00   tot 234.09
   [12]     qtv    move STBD_TURN   dir NORTH_WEST  loc 1907,-1142  DistToNext 43.840622
    Speed 2, FLAG 1
     time  0.00   tot 234.09
   [13]     qtv    move FORWARD   dir NORTH_WEST  loc 1876,-1111  DistToNext 29.698484
    Speed 1, FLAG 1
     time 78.91   tot 313.00
   [14]     qtv    move FORWARD   dir NORTH_WEST  loc 1897,-1132  DistToNext 0.000000
    Speed 1, FLAG 2
     time 53.46   tot 366.46
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir EAST  loc -265,87  DistToNext 0.000000
    Speed 5, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move PORT_TURN   dir NORTH_EAST  loc -265,87  DistToNext 39.597980
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move FORWARD   dir NORTH_EAST  loc -237,115  DistToNext 0.000000
    Speed 6, FLAG 1
     time 11.88   tot 11.88
   [ 3]     qtv    move PORT_TURN   dir NORTH  loc -237,115  DistToNext 40.000000
    Speed 0, FLAG 1
     time  0.00   tot 11.88
   [ 4]     qtv    move FORWARD   dir NORTH  loc -237,155  DistToNext 0.000000
    Speed 4, FLAG 1
     time 18.00   tot 29.88
   [ 5]     qtv    move PORT_TURN   dir NORTH_WEST  loc -237,155  DistToNext 39.597980
    Speed 0, FLAG 1
     time  0.00   tot 29.88
   [ 6]     qtv    move FORWARD   dir NORTH_WEST  loc -265,183  DistToNext 0.000000
    Speed 2, FLAG 1
     time 35.64   tot 65.52
   [ 7]     qtv    move PORT_TURN   dir WEST  loc -265,183  DistToNext 40.000000
    Speed 0, FLAG 1
     time  0.00   tot 65.52
   [ 8]     qtv    move FORWARD   dir WEST  loc -305,183  DistToNext 0.000000
    Speed 0, FLAG 1
     time   inf   tot   inf
   [ 9]     qtv    move PORT_TURN   dir SOUTH_WEST  loc -305,183  DistToNext 41.012192
    Speed 0, FLAG 1
     time  0.00   tot   inf
   [10]     qtv    move FORWARD   dir SOUTH_WEST  loc -334,154  DistToNext 0.000000
    Speed 2, FLAG 1
     time 36.91   tot   inf
   [11]     qtv    move PORT_TURN   dir SOUTH  loc -334,154  DistToNext 0.000000
    Speed 2, FLAG 1
     time  0.00   tot   inf
   [12]     qtv    move PORT_TURN   dir SOUTH_EAST  loc -334,154  DistToNext 41.012192
    Speed 0, FLAG 1
     time  0.00   tot   inf
   [13]     qtv    move FORWARD   dir SOUTH_EAST  loc -305,125  DistToNext 0.000000
    Speed 6, FLAG 1
     time 12.30   tot   inf
   [14]     qtv    move STBD_TURN   dir SOUTH  loc -305,125  DistToNext 40.000000
    Speed 6, FLAG 1
     time  0.00   tot   inf
   [15]     qtv    move FORWARD   dir SOUTH  loc -305,85  DistToNext 0.000000
    Speed 4, FLAG 1
     time 18.00   tot   inf
   [16]     qtv    move STBD_TURN   dir SOUTH_WEST  loc -305,85  DistToNext 41.012192
    Speed 0, FLAG 1
     time  0.00   tot   inf
   [17]     qtv    move FORWARD   dir SOUTH_WEST  loc -334,56  DistToNext 0.000000
    Speed 2, FLAG 1
     time 36.91   tot   inf
   [18]     qtv    move STBD_TURN   dir WEST  loc -334,56  DistToNext 40.000000
    Speed 2, FLAG 1
     time  0.00   tot   inf
   [19]     qtv    move FORWARD   dir WEST  loc -374,56  DistToNext 0.000000
    Speed 2, FLAG 1
     time 36.00   tot   inf
   [20]     qtv    move STBD_TURN   dir NORTH_WEST  loc -374,56  DistToNext 0.000000
    Speed 2, FLAG 1
     time  0.00   tot   inf
   [21]     qtv    move STBD_TURN   dir NORTH  loc -374,56  DistToNext 40.000000
    Speed 0, FLAG 1
     time  0.00   tot   inf
   [22]     qtv    move FORWARD   dir NORTH  loc -374,96  DistToNext 0.000000
    Speed 4, FLAG 1
     time 18.00   tot   inf
   [23]     qtv    move STBD_TURN   dir NORTH_EAST  loc -374,96  DistToNext 39.597980
    Speed 4, FLAG 1
     time  0.00   tot   inf
   [24]     qtv    move FORWARD   dir NORTH_EAST  loc -346,124  DistToNext 0.000000
    Speed 6, FLAG 1
     time 11.88   tot   inf
   [25]     qtv    move PORT_TURN   dir NORTH  loc -346,124  DistToNext 40.000000
    Speed 0, FLAG 1
     time  0.00   tot   inf
   [26]     qtv    move FORWARD   dir NORTH  loc -346,164  DistToNext 0.000000
    Speed 4, FLAG 1
     time 18.00   tot   inf
   [27]     qtv    move PORT_TURN   dir NORTH_WEST  loc -346,164  DistToNext 41.012192
    Speed 4, FLAG 1
     time  0.00   tot   inf
   [28]     qtv    move FORWARD   dir NORTH_WEST  loc -375,193  DistToNext 0.000000
    Speed 2, FLAG 1
     time 36.91   tot   inf
   [29]     qtv    move PORT_TURN   dir WEST  loc -375,193  DistToNext 0.000000
    Speed 2, FLAG 1
     time  0.00   tot   inf
   [30]     qtv    move PORT_TURN   dir SOUTH_WEST  loc -375,193  DistToNext 41.012192
    Speed 0, FLAG 1
     time  0.00   tot   inf
   [31]     qtv    move FORWARD   dir SOUTH_WEST  loc -404,164  DistToNext 0.000000
    Speed 2, FLAG 1
     time 36.91   tot   inf
   [32]     qtv    move STBD_TURN   dir WEST  loc -404,164  DistToNext -inf
    Speed 2, FLAG 1
     time  0.00   tot   inf
   [33]     qtv    move FORWARD   dir WEST  loc 2147483244,164  DistToNext -inf
    Speed -1, FLAG 1
     time  -inf   tot  -nan
  End Path <===
* ==> Start Path
   [ 0]     qtv    move STBD_TURN   dir SOUTH_WEST  loc 612,332  DistToNext 39.597980
    Speed 2, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir SOUTH_WEST  loc 584,304  DistToNext 0.000000
    Speed 2, FLAG 1
     time 35.64   tot 35.64
   [ 2]     qtv    move PORT_TURN   dir SOUTH  loc 584,304  DistToNext 0.000000
    Speed 0, FLAG 1
     time  0.00   tot 35.64
   [ 3]     qtv    move STBD_TURN   dir SOUTH_WEST  loc 584,304  DistToNext 41.012192
    Speed 2, FLAG 1
     time  0.00   tot 35.64
   [ 4]     qtv    move FORWARD   dir SOUTH_WEST  loc 555,275  DistToNext 0.000000
    Speed 2, FLAG 1
     time 36.91   tot 72.55
   [ 5]     qtv    move STBD_TURN   dir WEST  loc 555,275  DistToNext 40.000000
    Speed 2, FLAG 1
     time  0.00   tot 72.55
   [ 6]     qtv    move FORWARD   dir WEST  loc 515,275  DistToNext 0.000000
    Speed 2, FLAG 1
     time 36.00   tot 108.55
   [ 7]     qtv    move STBD_TURN   dir NORTH_WEST  loc 515,275  DistToNext 0.000000
    Speed 2, FLAG 1
     time  0.00   tot 108.55
   [ 8]     qtv    move STBD_TURN   dir NORTH  loc 515,275  DistToNext 40.000000
    Speed 0, FLAG 1
     time  0.00   tot 108.55
   [ 9]     qtv    move FORWARD   dir NORTH  loc 515,315  DistToNext 0.000000
    Speed 5, FLAG 1
     time 14.40   tot 122.95
   [10]     qtv    move PORT_TURN   dir NORTH_WEST  loc 515,315  DistToNext 62.225395
    Speed 5, FLAG 1
     time  0.00   tot 122.95
   [11]     qtv    move FORWARD   dir NORTH_WEST  loc 471,359  DistToNext 7.071068
    Speed 2, FLAG 1
     time 56.00   tot 178.95
   [12]     qtv    move FORWARD   dir NORTH_WEST  loc 476,354  DistToNext 0.000000
    Speed 2, FLAG 2
     time  6.36   tot 185.31
  End Path <===
* ==> Start Path
   [ 0]     qtv    move PORT_TURN   dir EAST  loc 1371,-760  DistToNext 50.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir EAST  loc 1421,-760  DistToNext 0.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
   [ 2]     qtv    move PORT_TURN   dir NORTH_EAST  loc 1421,-760  DistToNext 50.000000
    Speed 0, FLAG 1
     time  0.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir EAST  loc 1604,-822  DistToNext 0.000000
    Speed 4, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move STBD_TURN   dir SOUTH_EAST  loc 1604,-822  DistToNext 499.217377
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move FORWARD   dir SOUTH_EAST  loc 1957,-1175  DistToNext 0.000000
    Speed 5, FLAG 1
     time 179.72   tot 179.72
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir WEST  loc 644,7  DistToNext 50.000000
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir WEST  loc 694,7  DistToNext 50.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move NO_DIRECTION   dir SOUTH  loc 841,371  DistToNext 60.000000
    Speed 3, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir SOUTH  loc 841,311  DistToNext 0.000000
    Speed 3, FLAG 1
     time 36.00   tot 36.00
   [ 2]     qtv    move PORT_TURN   dir SOUTH_EAST  loc 841,311  DistToNext 59.396969
    Speed 0, FLAG 1
     time  0.00   tot 36.00
   [ 3]     qtv    move FORWARD   dir SOUTH_EAST  loc 883,269  DistToNext 0.000000
    Speed 5, FLAG 1
     time 21.38   tot 57.38
   [ 4]     qtv    move PORT_TURN   dir EAST  loc 883,269  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot 57.38
   [ 5]     qtv    move FORWARD   dir EAST  loc 943,269  DistToNext 0.000000
    Speed 4, FLAG 1
     time 27.00   tot 84.38
   [ 6]     qtv    move PORT_TURN   dir NORTH_EAST  loc 943,269  DistToNext 59.396969
    Speed 0, FLAG 1
     time  0.00   tot 84.38
   [ 7]     qtv    move FORWARD   dir NORTH_EAST  loc 985,311  DistToNext 0.000000
    Speed 5, FLAG 1
     time 21.38   tot 105.76
   [ 8]     qtv    move PORT_TURN   dir NORTH  loc 985,311  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot 105.76
   [ 9]     qtv    move FORWARD   dir NORTH  loc 985,371  DistToNext 0.000000
    Speed 3, FLAG 1
     time 36.00   tot 141.76
   [10]     qtv    move PORT_TURN   dir NORTH_WEST  loc 985,371  DistToNext 19.798990
    Speed 0, FLAG 1
     time  0.00   tot 141.76
   [11]     qtv    move FORWARD   dir NORTH_WEST  loc 971,385  DistToNext 18.384777
    Speed 1, FLAG 1
     time 35.64   tot 177.40
   [12]     qtv    move FORWARD   dir NORTH_WEST  loc 958,398  DistToNext 0.000000
    Speed 1, FLAG 2
     time 33.09   tot 210.49
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir WEST  loc 834,-738  DistToNext 50.000000
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir WEST  loc 884,-738  DistToNext 50.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir NORTH  loc 1352,296  DistToNext 0.000000
    Speed 2, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move STBD_TURN   dir NORTH_EAST  loc 1352,296  DistToNext 59.396969
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move FORWARD   dir NORTH_EAST  loc 1394,338  DistToNext 0.000000
    Speed 3, FLAG 1
     time 35.64   tot 35.64
   [ 3]     qtv    move STBD_TURN   dir EAST  loc 1394,338  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot 35.64
   [ 4]     qtv    move FORWARD   dir EAST  loc 1454,338  DistToNext 0.000000
    Speed 2, FLAG 1
     time 54.00   tot 89.64
   [ 5]     qtv    move STBD_TURN   dir SOUTH_EAST  loc 1454,338  DistToNext 59.396969
    Speed 0, FLAG 1
     time  0.00   tot 89.64
   [ 6]     qtv    move FORWARD   dir SOUTH_EAST  loc 1496,296  DistToNext 0.000000
    Speed 3, FLAG 1
     time 35.64   tot 125.28
   [ 7]     qtv    move STBD_TURN   dir SOUTH  loc 1496,296  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot 125.28
   [ 8]     qtv    move FORWARD   dir SOUTH  loc 1496,236  DistToNext 0.000000
    Speed 2, FLAG 1
     time 54.00   tot 179.27
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir SOUTH  loc 463,-83  DistToNext 0.000000
    Speed 4, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move STBD_TURN   dir SOUTH_WEST  loc 463,-83  DistToNext 60.811184
    Speed 4, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move FORWARD   dir SOUTH_WEST  loc 420,-126  DistToNext 0.000000
    Speed 2, FLAG 1
     time 54.73   tot 54.73
   [ 3]     qtv    move STBD_TURN   dir WEST  loc 420,-126  DistToNext 60.000000
    Speed 2, FLAG 1
     time  0.00   tot 54.73
   [ 4]     qtv    move FORWARD   dir WEST  loc 360,-126  DistToNext 0.000000
    Speed 2, FLAG 1
     time 54.00   tot 108.73
   [ 5]     qtv    move STBD_TURN   dir NORTH_WEST  loc 360,-126  DistToNext 0.000000
    Speed 2, FLAG 1
     time  0.00   tot 108.73
   [ 6]     qtv    move STBD_TURN   dir NORTH  loc 360,-126  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot 108.73
   [ 7]     qtv    move FORWARD   dir NORTH  loc 360,-66  DistToNext 0.000000
    Speed 4, FLAG 1
     time 27.00   tot 135.73
   [ 8]     qtv    move PORT_TURN   dir NORTH_WEST  loc 360,-66  DistToNext 48.083260
    Speed 4, FLAG 1
     time  0.00   tot 135.73
   [ 9]     qtv    move FORWARD   dir NORTH_WEST  loc 326,-32  DistToNext 38.183765
    Speed 2, FLAG 1
     time 43.27   tot 179.00
   [10]     qtv    move FORWARD   dir NORTH_WEST  loc 353,-59  DistToNext 0.000000
    Speed 2, FLAG 2
     time 34.37   tot 213.37
  End Path <===
* ==> Start Path
   [ 0]     qtv    move STBD_TURN   dir NORTH_WEST  loc 1829,-1277  DistToNext 199.404114
    Speed 2, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir NORTH_WEST  loc 1688,-1136  DistToNext 0.000000
    Speed 2, FLAG 1
     time 179.46   tot 179.46
  End Path <===
* ==> Start Path
   [ 0]     qtv    move PORT_TURN   dir SOUTH_WEST  loc 1485,-1525  DistToNext 50.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir SOUTH_WEST  loc 1535,-1525  DistToNext 0.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
   [ 2]     qtv    move PORT_TURN   dir SOUTH  loc 1535,-1525  DistToNext 50.000000
    Speed 0, FLAG 1
     time  0.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir WEST  loc 1890,-1100  DistToNext 50.000000
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir WEST  loc 1940,-1100  DistToNext 50.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir EAST  loc 2313,-1248  DistToNext 0.000000
    Speed 5, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move PORT_TURN   dir NORTH_EAST  loc 2313,-1248  DistToNext 60.811184
    Speed 5, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move FORWARD   dir NORTH_EAST  loc 2356,-1205  DistToNext 0.000000
    Speed 6, FLAG 1
     time 18.24   tot 18.24
   [ 3]     qtv    move PORT_TURN   dir NORTH  loc 2356,-1205  DistToNext 60.000000
    Speed 6, FLAG 1
     time  0.00   tot 18.24
   [ 4]     qtv    move FORWARD   dir NORTH  loc 2356,-1145  DistToNext 0.000000
    Speed 4, FLAG 1
     time 27.00   tot 45.24
   [ 5]     qtv    move PORT_TURN   dir NORTH_WEST  loc 2356,-1145  DistToNext 0.000000
    Speed 4, FLAG 1
     time  0.00   tot 45.24
   [ 6]     qtv    move PORT_TURN   dir WEST  loc 2356,-1145  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot 45.24
   [ 7]     qtv    move FORWARD   dir WEST  loc 2296,-1145  DistToNext 0.000000
    Speed 4, FLAG 1
     time 27.00   tot 72.24
   [ 8]     qtv    move STBD_TURN   dir NORTH_WEST  loc 2296,-1145  DistToNext 118.793938
    Speed 4, FLAG 1
     time  0.00   tot 72.24
   [ 9]     qtv    move FORWARD   dir NORTH_WEST  loc 2212,-1061  DistToNext 0.000000
    Speed 2, FLAG 1
     time 106.91   tot 179.16
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir SOUTH_EAST  loc 1580,-604  DistToNext 0.000000
    Speed 4, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move STBD_TURN   dir SOUTH  loc 1580,-604  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move FORWARD   dir SOUTH  loc 1580,-664  DistToNext 0.000000
    Speed 3, FLAG 1
     time 36.00   tot 36.00
   [ 3]     qtv    move STBD_TURN   dir SOUTH_WEST  loc 1580,-664  DistToNext 79.195961
    Speed 0, FLAG 1
     time  0.00   tot 36.00
   [ 4]     qtv    move FORWARD   dir SOUTH_WEST  loc 1524,-720  DistToNext 0.000000
    Speed 1, FLAG 1
     time 142.55   tot 178.55
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir NORTH  loc 1854,-1064  DistToNext 50.000000
    Speed 2, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir NORTH  loc 1904,-1064  DistToNext 50.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir SOUTH_EAST  loc 1827,-1017  DistToNext 50.000000
    Speed 3, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir SOUTH_EAST  loc 1877,-1017  DistToNext 50.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move STBD_TURN   dir SOUTH_WEST  loc -404,164  DistToNext 39.597980
    Speed 2, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir SOUTH_WEST  loc -432,136  DistToNext 0.000000
    Speed 2, FLAG 1
     time 35.64   tot 35.64
   [ 2]     qtv    move PORT_TURN   dir SOUTH  loc -432,136  DistToNext 40.000000
    Speed 0, FLAG 1
     time  0.00   tot 35.64
   [ 3]     qtv    move FORWARD   dir SOUTH  loc -432,96  DistToNext 0.000000
    Speed 4, FLAG 1
     time 18.00   tot 53.64
   [ 4]     qtv    move PORT_TURN   dir SOUTH_EAST  loc -432,96  DistToNext 39.597980
    Speed 0, FLAG 1
     time  0.00   tot 53.64
   [ 5]     qtv    move FORWARD   dir SOUTH_EAST  loc -404,68  DistToNext 0.000000
    Speed 6, FLAG 1
     time 11.88   tot 65.52
   [ 6]     qtv    move PORT_TURN   dir EAST  loc -404,68  DistToNext 316.000000
    Speed 0, FLAG 1
     time  0.00   tot 65.52
   [ 7]     qtv    move FORWARD   dir EAST  loc -88,68  DistToNext 0.000000
    Speed 5, FLAG 1
     time 113.76   tot 179.28
  End Path <===
* ==> Start Path
   [ 0]     qtv    move STBD_TURN   dir NORTH_WEST  loc 471,359  DistToNext 39.597980
    Speed 2, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir NORTH_WEST  loc 443,387  DistToNext 0.000000
    Speed 2, FLAG 1
     time 35.64   tot 35.64
   [ 2]     qtv    move STBD_TURN   dir NORTH  loc 443,387  DistToNext 40.000000
    Speed 0, FLAG 1
     time  0.00   tot 35.64
   [ 3]     qtv    move FORWARD   dir NORTH  loc 443,427  DistToNext 0.000000
    Speed 5, FLAG 1
     time 14.40   tot 50.04
   [ 4]     qtv    move STBD_TURN   dir NORTH_EAST  loc 443,427  DistToNext 569.928040
    Speed 0, FLAG 1
     time  0.00   tot 50.04
   [ 5]     qtv    move FORWARD   dir NORTH_EAST  loc 846,830  DistToNext 7.071068
    Speed 8, FLAG 1
     time 128.23   tot 178.27
   [ 6]     qtv    move FORWARD   dir NORTH_EAST  loc 851,835  DistToNext 0.000000
    Speed 8, FLAG 2
     time  1.59   tot 179.86
  End Path <===
* ==> Start Path
   [ 0]     qtv    move PORT_TURN   dir NORTH_EAST  loc 1421,-760  DistToNext 50.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir NORTH_EAST  loc 1471,-760  DistToNext 0.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
   [ 2]     qtv    move PORT_TURN   dir NORTH  loc 1471,-760  DistToNext 50.000000
    Speed 0, FLAG 1
     time  0.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir SOUTH_EAST  loc 1792,-984  DistToNext 50.000000
    Speed 5, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir SOUTH_EAST  loc 1842,-984  DistToNext 50.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir WEST  loc 694,7  DistToNext 50.000000
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir WEST  loc 744,7  DistToNext 50.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move NO_DIRECTION   dir NORTH_WEST  loc 971,385  DistToNext 59.396969
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir NORTH_WEST  loc 929,427  DistToNext 0.000000
    Speed 1, FLAG 1
     time 106.91   tot 106.91
   [ 2]     qtv    move STBD_TURN   dir NORTH  loc 929,427  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot 106.91
   [ 3]     qtv    move FORWARD   dir NORTH  loc 929,487  DistToNext 0.000000
    Speed 3, FLAG 1
     time 36.00   tot 142.91
   [ 4]     qtv    move STBD_TURN   dir NORTH_EAST  loc 929,487  DistToNext 59.396969
    Speed 0, FLAG 1
     time  0.00   tot 142.91
   [ 5]     qtv    move FORWARD   dir NORTH_EAST  loc 971,529  DistToNext 0.000000
    Speed 5, FLAG 1
     time 21.38   tot 164.30
   [ 6]     qtv    move STBD_TURN   dir EAST  loc 971,529  DistToNext 32.000000
    Speed 0, FLAG 1
     time  0.00   tot 164.30
   [ 7]     qtv    move FORWARD   dir EAST  loc 1003,529  DistToNext 5.000000
    Speed 4, FLAG 1
     time 14.40   tot 178.70
   [ 8]     qtv    move FORWARD   dir EAST  loc 998,529  DistToNext 0.000000
    Speed 4, FLAG 2
     time  2.25   tot 180.95
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir WEST  loc 884,-738  DistToNext 50.000000
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir WEST  loc 934,-738  DistToNext 50.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir SOUTH  loc 1496,236  DistToNext 200.000000
    Speed 2, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir SOUTH  loc 1496,36  DistToNext 0.000000
    Speed 2, FLAG 1
     time 180.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir NORTH_WEST  loc 326,-32  DistToNext 0.000000
    Speed 2, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move STBD_TURN   dir NORTH  loc 326,-32  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move FORWARD   dir NORTH  loc 326,28  DistToNext 0.000000
    Speed 4, FLAG 1
     time 27.00   tot 27.00
   [ 3]     qtv    move STBD_TURN   dir NORTH_EAST  loc 326,28  DistToNext 118.793938
    Speed 0, FLAG 1
     time  0.00   tot 27.00
   [ 4]     qtv    move FORWARD   dir NORTH_EAST  loc 410,112  DistToNext 0.000000
    Speed 6, FLAG 1
     time 35.64   tot 62.64
   [ 5]     qtv    move STBD_TURN   dir EAST  loc 410,112  DistToNext 120.000000
    Speed 0, FLAG 1
     time  0.00   tot 62.64
   [ 6]     qtv    move FORWARD   dir EAST  loc 530,112  DistToNext 0.000000
    Speed 5, FLAG 1
     time 43.20   tot 105.84
   [ 7]     qtv    move STBD_TURN   dir SOUTH_EAST  loc 530,112  DistToNext 118.793938
    Speed 0, FLAG 1
     time  0.00   tot 105.84
   [ 8]     qtv    move FORWARD   dir SOUTH_EAST  loc 614,28  DistToNext 0.000000
    Speed 6, FLAG 1
     time 35.64   tot 141.48
   [ 9]     qtv    move STBD_TURN   dir SOUTH  loc 614,28  DistToNext 84.000000
    Speed 0, FLAG 1
     time  0.00   tot 141.48
   [10]     qtv    move FORWARD   dir SOUTH  loc 614,-56  DistToNext 0.000000
    Speed 4, FLAG 1
     time 37.80   tot 179.27
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir NORTH_WEST  loc 1688,-1136  DistToNext 199.404114
    Speed 2, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir NORTH_WEST  loc 1547,-995  DistToNext 0.000000
    Speed 2, FLAG 1
     time 179.46   tot 179.46
  End Path <===
* ==> Start Path
   [ 0]     qtv    move PORT_TURN   dir SOUTH  loc 1535,-1525  DistToNext 50.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir SOUTH  loc 1585,-1525  DistToNext 0.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
   [ 2]     qtv    move PORT_TURN   dir SOUTH_EAST  loc 1585,-1525  DistToNext 50.000000
    Speed 0, FLAG 1
     time  0.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir WEST  loc 1938,-1010  DistToNext 50.000000
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir WEST  loc 1988,-1010  DistToNext 0.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
   [ 2]     qtv    move STBD_TURN   dir NORTH_WEST  loc 1988,-1010  DistToNext 50.000000
    Speed 0, FLAG 1
     time  0.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir NORTH_WEST  loc 2212,-1061  DistToNext 199.404114
    Speed 2, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir NORTH_WEST  loc 2071,-920  DistToNext 0.000000
    Speed 2, FLAG 1
     time 179.46   tot 179.46
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir SOUTH_WEST  loc 1524,-720  DistToNext 98.994949
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir SOUTH_WEST  loc 1454,-790  DistToNext 0.000000
    Speed 1, FLAG 1
     time 178.19   tot 178.19
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir NORTH  loc 1814,-884  DistToNext 0.000000
    Speed 2, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move PORT_TURN   dir NORTH_WEST  loc 1814,-884  DistToNext 98.994949
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move FORWARD   dir NORTH_WEST  loc 1744,-814  DistToNext 0.000000
    Speed 1, FLAG 1
     time 178.19   tot 178.19
  End Path <===
* ==> Start Path
   [ 0]     qtv    move PORT_TURN   dir EAST  loc 1787,-927  DistToNext 0.000000
    Speed 3, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move STBD_TURN   dir SOUTH_EAST  loc 1787,-927  DistToNext 60.811184
    Speed 3, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move FORWARD   dir SOUTH_EAST  loc 1830,-970  DistToNext 0.000000
    Speed 3, FLAG 1
     time 36.49   tot 36.49
   [ 3]     qtv    move STBD_TURN   dir SOUTH  loc 1830,-970  DistToNext 60.000000
    Speed 3, FLAG 1
     time  0.00   tot 36.49
   [ 4]     qtv    move FORWARD   dir SOUTH  loc 1830,-1030  DistToNext 0.000000
    Speed 2, FLAG 1
     time 54.00   tot 90.49
   [ 5]     qtv    move STBD_TURN   dir SOUTH_WEST  loc 1830,-1030  DistToNext 0.000000
    Speed 2, FLAG 1
     time  0.00   tot 90.49
   [ 6]     qtv    move STBD_TURN   dir WEST  loc 1830,-1030  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot 90.49
   [ 7]     qtv    move FORWARD   dir WEST  loc 1770,-1030  DistToNext 0.000000
    Speed 2, FLAG 1
     time 54.00   tot 144.49
   [ 8]     qtv    move PORT_TURN   dir SOUTH_WEST  loc 1770,-1030  DistToNext 18.384777
    Speed 2, FLAG 1
     time  0.00   tot 144.49
   [ 9]     qtv    move FORWARD   dir SOUTH_WEST  loc 1757,-1043  DistToNext 21.213203
    Speed 1, FLAG 1
     time 33.09   tot 177.58
   [10]     qtv    move FORWARD   dir SOUTH_WEST  loc 1742,-1058  DistToNext 0.000000
    Speed 1, FLAG 2
     time 38.18   tot 215.76
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir EAST  loc -88,68  DistToNext 0.000000
    Speed 5, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move PORT_TURN   dir NORTH_EAST  loc -88,68  DistToNext 41.012192
    Speed 5, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move FORWARD   dir NORTH_EAST  loc -59,97  DistToNext 0.000000
    Speed 6, FLAG 1
     time 12.30   tot 12.30
   [ 3]     qtv    move PORT_TURN   dir NORTH  loc -59,97  DistToNext 40.000000
    Speed 6, FLAG 1
     time  0.00   tot 12.30
   [ 4]     qtv    move FORWARD   dir NORTH  loc -59,137  DistToNext 0.000000
    Speed 4, FLAG 1
     time 18.00   tot 30.30
   [ 5]     qtv    move PORT_TURN   dir NORTH_WEST  loc -59,137  DistToNext 0.000000
    Speed 4, FLAG 1
     time  0.00   tot 30.30
   [ 6]     qtv    move PORT_TURN   dir WEST  loc -59,137  DistToNext 40.000000
    Speed 0, FLAG 1
     time  0.00   tot 30.30
   [ 7]     qtv    move FORWARD   dir WEST  loc -99,137  DistToNext 0.000000
    Speed 4, FLAG 1
     time 18.00   tot 48.30
   [ 8]     qtv    move PORT_TURN   dir SOUTH_WEST  loc -99,137  DistToNext 39.597980
    Speed 4, FLAG 1
     time  0.00   tot 48.30
   [ 9]     qtv    move FORWARD   dir SOUTH_WEST  loc -127,109  DistToNext 0.000000
    Speed 2, FLAG 1
     time 35.64   tot 83.94
   [10]     qtv    move STBD_TURN   dir WEST  loc -127,109  DistToNext 40.000000
    Speed 0, FLAG 1
     time  0.00   tot 83.94
   [11]     qtv    move FORWARD   dir WEST  loc -167,109  DistToNext 0.000000
    Speed 0, FLAG 1
     time   inf   tot   inf
   [12]     qtv    move STBD_TURN   dir NORTH_WEST  loc -167,109  DistToNext 41.012192
    Speed 0, FLAG 1
     time  0.00   tot   inf
   [13]     qtv    move FORWARD   dir NORTH_WEST  loc -196,138  DistToNext 0.000000
    Speed 2, FLAG 1
     time 36.91   tot   inf
   [14]     qtv    move STBD_TURN   dir NORTH  loc -196,138  DistToNext 0.000000
    Speed 2, FLAG 1
     time  0.00   tot   inf
   [15]     qtv    move STBD_TURN   dir NORTH_EAST  loc -196,138  DistToNext 41.012192
    Speed 0, FLAG 1
     time  0.00   tot   inf
   [16]     qtv    move FORWARD   dir NORTH_EAST  loc -167,167  DistToNext 0.000000
    Speed 6, FLAG 1
     time 12.30   tot   inf
   [17]     qtv    move STBD_TURN   dir EAST  loc -167,167  DistToNext 40.000000
    Speed 6, FLAG 1
     time  0.00   tot   inf
   [18]     qtv    move FORWARD   dir EAST  loc -127,167  DistToNext 0.000000
    Speed 5, FLAG 1
     time 14.40   tot   inf
   [19]     qtv    move STBD_TURN   dir SOUTH_EAST  loc -127,167  DistToNext 41.012192
    Speed 0, FLAG 1
     time  0.00   tot   inf
   [20]     qtv    move FORWARD   dir SOUTH_EAST  loc -98,138  DistToNext 0.000000
    Speed 6, FLAG 1
     time 12.30   tot   inf
   [21]     qtv    move STBD_TURN   dir SOUTH  loc -98,138  DistToNext 40.000000
    Speed 6, FLAG 1
     time  0.00   tot   inf
   [22]     qtv    move FORWARD   dir SOUTH  loc -98,98  DistToNext 0.000000
    Speed 4, FLAG 1
     time 18.00   tot   inf
   [23]     qtv    move STBD_TURN   dir SOUTH_WEST  loc -98,98  DistToNext 0.000000
    Speed 4, FLAG 1
     time  0.00   tot   inf
   [24]     qtv    move STBD_TURN   dir WEST  loc -98,98  DistToNext 40.000000
    Speed 0, FLAG 1
     time  0.00   tot   inf
   [25]     qtv    move FORWARD   dir WEST  loc -138,98  DistToNext 0.000000
    Speed 4, FLAG 1
     time 18.00   tot   inf
   [26]     qtv    move STBD_TURN   dir NORTH_WEST  loc -138,98  DistToNext 39.597980
    Speed 4, FLAG 1
     time  0.00   tot   inf
   [27]     qtv    move FORWARD   dir NORTH_WEST  loc -166,126  DistToNext 0.000000
    Speed 2, FLAG 1
     time 35.64   tot   inf
   [28]     qtv    move PORT_TURN   dir WEST  loc -166,126  DistToNext 40.000000
    Speed 0, FLAG 1
     time  0.00   tot   inf
   [29]     qtv    move FORWARD   dir WEST  loc -206,126  DistToNext 0.000000
    Speed 0, FLAG 1
     time   inf   tot   inf
   [30]     qtv    move PORT_TURN   dir SOUTH_WEST  loc -206,126  DistToNext 41.012192
    Speed 0, FLAG 1
     time  0.00   tot   inf
   [31]     qtv    move FORWARD   dir SOUTH_WEST  loc -235,97  DistToNext 0.000000
    Speed 2, FLAG 1
     time 36.91   tot   inf
   [32]     qtv    move PORT_TURN   dir SOUTH  loc -235,97  DistToNext 0.000000
    Speed 2, FLAG 1
     time  0.00   tot   inf
   [33]     qtv    move PORT_TURN   dir SOUTH_EAST  loc -235,97  DistToNext 41.012192
    Speed 0, FLAG 1
     time  0.00   tot   inf
   [34]     qtv    move FORWARD   dir SOUTH_EAST  loc -206,68  DistToNext 0.000000
    Speed 6, FLAG 1
     time 12.30   tot   inf
   [35]     qtv    move STBD_TURN   dir SOUTH  loc -206,68  DistToNext 40.000000
    Speed 6, FLAG 1
     time  0.00   tot   inf
   [36]     qtv    move FORWARD   dir SOUTH  loc -206,28  DistToNext 0.000000
    Speed 4, FLAG 1
     time 18.00   tot   inf
   [37]     qtv    move STBD_TURN   dir SOUTH_WEST  loc -206,28  DistToNext 41.012192
    Speed 0, FLAG 1
     time  0.00   tot   inf
   [38]     qtv    move FORWARD   dir SOUTH_WEST  loc -235,-1  DistToNext 0.000000
    Speed 2, FLAG 1
     time 36.91   tot   inf
   [39]     qtv    move STBD_TURN   dir WEST  loc -235,-1  DistToNext 40.000000
    Speed 2, FLAG 1
     time  0.00   tot   inf
   [40]     qtv    move FORWARD   dir WEST  loc -275,-1  DistToNext 0.000000
    Speed 2, FLAG 1
     time 36.00   tot   inf
   [41]     qtv    move STBD_TURN   dir NORTH_WEST  loc -275,-1  DistToNext 0.000000
    Speed 2, FLAG 1
     time  0.00   tot   inf
   [42]     qtv    move STBD_TURN   dir NORTH  loc -275,-1  DistToNext 40.000000
    Speed 0, FLAG 1
     time  0.00   tot   inf
   [43]     qtv    move FORWARD   dir NORTH  loc -275,39  DistToNext 0.000000
    Speed 4, FLAG 1
     time 18.00   tot   inf
   [44]     qtv    move STBD_TURN   dir NORTH_EAST  loc -275,39  DistToNext 39.597980
    Speed 4, FLAG 1
     time  0.00   tot   inf
   [45]     qtv    move FORWARD   dir NORTH_EAST  loc -247,67  DistToNext 0.000000
    Speed 6, FLAG 1
     time 11.88   tot   inf
   [46]     qtv    move PORT_TURN   dir NORTH  loc -247,67  DistToNext 40.000000
    Speed 0, FLAG 1
     time  0.00   tot   inf
   [47]     qtv    move FORWARD   dir NORTH  loc -247,107  DistToNext 0.000000
    Speed 4, FLAG 1
     time 18.00   tot   inf
   [48]     qtv    move PORT_TURN   dir NORTH_WEST  loc -247,107  DistToNext 41.012192
    Speed 4, FLAG 1
     time  0.00   tot   inf
   [49]     qtv    move FORWARD   dir NORTH_WEST  loc -276,136  DistToNext 0.000000
    Speed 2, FLAG 1
     time 36.91   tot   inf
   [50]     qtv    move PORT_TURN   dir WEST  loc -276,136  DistToNext 0.000000
    Speed 2, FLAG 1
     time  0.00   tot   inf
   [51]     qtv    move PORT_TURN   dir SOUTH_WEST  loc -276,136  DistToNext 41.012192
    Speed 0, FLAG 1
     time  0.00   tot   inf
   [52]     qtv    move FORWARD   dir SOUTH_WEST  loc -305,107  DistToNext 0.000000
    Speed 2, FLAG 1
     time 36.91   tot   inf
   [53]     qtv    move STBD_TURN   dir WEST  loc -305,107  DistToNext -inf
    Speed 2, FLAG 1
     time  0.00   tot   inf
   [54]     qtv    move FORWARD   dir WEST  loc 2147483343,107  DistToNext -inf
    Speed -1, FLAG 1
     time  -inf   tot  -nan
  End Path <===
* ==> Start Path
   [ 0]     qtv    move STBD_TURN   dir NORTH_EAST  loc 846,830  DistToNext 39.597980
    Speed 8, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir NORTH_EAST  loc 874,858  DistToNext 0.000000
    Speed 8, FLAG 1
     time  8.91   tot  8.91
   [ 2]     qtv    move PORT_TURN   dir NORTH  loc 874,858  DistToNext 475.000000
    Speed 0, FLAG 1
     time  0.00   tot  8.91
   [ 3]     qtv    move FORWARD   dir NORTH  loc 874,1333  DistToNext 31.000000
    Speed 5, FLAG 1
     time 171.00   tot 179.91
   [ 4]     qtv    move FORWARD   dir NORTH  loc 874,1302  DistToNext 0.000000
    Speed 5, FLAG 2
     time 11.16   tot 191.07
  End Path <===
* ==> Start Path
   [ 0]     qtv    move PORT_TURN   dir NORTH  loc 1471,-760  DistToNext 50.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir NORTH  loc 1521,-760  DistToNext 0.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
   [ 2]     qtv    move STBD_TURN   dir NORTH_EAST  loc 1521,-760  DistToNext 50.000000
    Speed 0, FLAG 1
     time  0.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move STBD_TURN   dir SOUTH  loc 1842,-894  DistToNext 50.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir SOUTH  loc 1892,-894  DistToNext 50.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir WEST  loc 744,7  DistToNext 50.000000
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir WEST  loc 794,7  DistToNext 0.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
   [ 2]     qtv    move PORT_TURN   dir SOUTH_WEST  loc 794,7  DistToNext 50.000000
    Speed 0, FLAG 1
     time  0.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move NO_DIRECTION   dir EAST  loc 1003,529  DistToNext 60.000000
    Speed 4, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir EAST  loc 1063,529  DistToNext 0.000000
    Speed 4, FLAG 1
     time 27.00   tot 27.00
   [ 2]     qtv    move PORT_TURN   dir NORTH_EAST  loc 1063,529  DistToNext 60.811184
    Speed 4, FLAG 1
     time  0.00   tot 27.00
   [ 3]     qtv    move FORWARD   dir NORTH_EAST  loc 1106,572  DistToNext 0.000000
    Speed 5, FLAG 1
     time 21.89   tot 48.89
   [ 4]     qtv    move PORT_TURN   dir NORTH  loc 1106,572  DistToNext 60.000000
    Speed 5, FLAG 1
     time  0.00   tot 48.89
   [ 5]     qtv    move FORWARD   dir NORTH  loc 1106,632  DistToNext 0.000000
    Speed 3, FLAG 1
     time 36.00   tot 84.89
   [ 6]     qtv    move PORT_TURN   dir NORTH_WEST  loc 1106,632  DistToNext 0.000000
    Speed 3, FLAG 1
     time  0.00   tot 84.89
   [ 7]     qtv    move PORT_TURN   dir WEST  loc 1106,632  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot 84.89
   [ 8]     qtv    move FORWARD   dir WEST  loc 1046,632  DistToNext 0.000000
    Speed 3, FLAG 1
     time 36.00   tot 120.89
   [ 9]     qtv    move PORT_TURN   dir SOUTH_WEST  loc 1046,632  DistToNext 32.526913
    Speed 3, FLAG 1
     time  0.00   tot 120.89
   [10]     qtv    move FORWARD   dir SOUTH_WEST  loc 1023,609  DistToNext 5.656854
    Speed 1, FLAG 1
     time 58.55   tot 179.44
   [11]     qtv    move FORWARD   dir SOUTH_WEST  loc 1027,613  DistToNext 0.000000
    Speed 1, FLAG 2
     time 10.18   tot 189.62
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir WEST  loc 934,-738  DistToNext 50.000000
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir WEST  loc 984,-738  DistToNext 0.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
   [ 2]     qtv    move STBD_TURN   dir NORTH_WEST  loc 984,-738  DistToNext 50.000000
    Speed 0, FLAG 1
     time  0.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir SOUTH  loc 1496,36  DistToNext 100.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir SOUTH  loc 1496,-64  DistToNext 0.000000
    Speed 1, FLAG 1
     time 180.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir SOUTH  loc 614,-56  DistToNext 0.000000
    Speed 4, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move STBD_TURN   dir SOUTH_WEST  loc 614,-56  DistToNext 60.811184
    Speed 4, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move FORWARD   dir SOUTH_WEST  loc 571,-99  DistToNext 0.000000
    Speed 2, FLAG 1
     time 54.73   tot 54.73
   [ 3]     qtv    move STBD_TURN   dir WEST  loc 571,-99  DistToNext 60.000000
    Speed 2, FLAG 1
     time  0.00   tot 54.73
   [ 4]     qtv    move FORWARD   dir WEST  loc 511,-99  DistToNext 0.000000
    Speed 2, FLAG 1
     time 54.00   tot 108.73
   [ 5]     qtv    move STBD_TURN   dir NORTH_WEST  loc 511,-99  DistToNext 0.000000
    Speed 2, FLAG 1
     time  0.00   tot 108.73
   [ 6]     qtv    move STBD_TURN   dir NORTH  loc 511,-99  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot 108.73
   [ 7]     qtv    move FORWARD   dir NORTH  loc 511,-39  DistToNext 0.000000
    Speed 4, FLAG 1
     time 27.00   tot 135.73
   [ 8]     qtv    move PORT_TURN   dir NORTH_WEST  loc 511,-39  DistToNext 48.083260
    Speed 4, FLAG 1
     time  0.00   tot 135.73
   [ 9]     qtv    move FORWARD   dir NORTH_WEST  loc 477,-5  DistToNext 38.183765
    Speed 2, FLAG 1
     time 43.27   tot 179.00
   [10]     qtv    move FORWARD   dir NORTH_WEST  loc 504,-32  DistToNext 0.000000
    Speed 2, FLAG 2
     time 34.37   tot 213.37
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir NORTH_WEST  loc 1547,-995  DistToNext 0.000000
    Speed 2, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move STBD_TURN   dir NORTH  loc 1547,-995  DistToNext 40.000000
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move FORWARD   dir NORTH  loc 1547,-955  DistToNext 0.000000
    Speed 6, FLAG 1
     time 12.00   tot 12.00
   [ 3]     qtv    move STBD_TURN   dir NORTH_EAST  loc 1547,-955  DistToNext 39.597980
    Speed 0, FLAG 1
     time  0.00   tot 12.00
   [ 4]     qtv    move FORWARD   dir NORTH_EAST  loc 1575,-927  DistToNext 0.000000
    Speed 8, FLAG 1
     time  8.91   tot 20.91
   [ 5]     qtv    move STBD_TURN   dir EAST  loc 1575,-927  DistToNext 40.000000
    Speed 0, FLAG 1
     time  0.00   tot 20.91
   [ 6]     qtv    move FORWARD   dir EAST  loc 1615,-927  DistToNext 0.000000
    Speed 7, FLAG 1
     time 10.29   tot 31.20
   [ 7]     qtv    move STBD_TURN   dir SOUTH_EAST  loc 1615,-927  DistToNext 39.597980
    Speed 0, FLAG 1
     time  0.00   tot 31.20
   [ 8]     qtv    move FORWARD   dir SOUTH_EAST  loc 1643,-955  DistToNext 0.000000
    Speed 8, FLAG 1
     time  8.91   tot 40.10
   [ 9]     qtv    move STBD_TURN   dir SOUTH  loc 1643,-955  DistToNext 40.000000
    Speed 0, FLAG 1
     time  0.00   tot 40.10
   [10]     qtv    move FORWARD   dir SOUTH  loc 1643,-995  DistToNext 0.000000
    Speed 6, FLAG 1
     time 12.00   tot 52.10
   [11]     qtv    move STBD_TURN   dir SOUTH_WEST  loc 1643,-995  DistToNext 39.597980
    Speed 0, FLAG 1
     time  0.00   tot 52.10
   [12]     qtv    move FORWARD   dir SOUTH_WEST  loc 1615,-1023  DistToNext 0.000000
    Speed 2, FLAG 1
     time 35.64   tot 87.74
   [13]     qtv    move STBD_TURN   dir WEST  loc 1615,-1023  DistToNext 25.626949
    Speed 0, FLAG 1
     time  0.00   tot 87.74
   [14]     qtv    move FORWARD   dir WEST  loc 1640,-1023  DistToNext 0.000000
    Speed -1, FLAG 1
     time 92.26   tot 180.00
   [15]     qtv    move STBD_TURN   dir NORTH_WEST  loc 1640,-1023  DistToNext 25.626949
    Speed 0, FLAG 1
     time  0.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move PORT_TURN   dir SOUTH_EAST  loc 1585,-1525  DistToNext 50.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir SOUTH_EAST  loc 1635,-1525  DistToNext 0.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
   [ 2]     qtv    move PORT_TURN   dir EAST  loc 1635,-1525  DistToNext 50.000000
    Speed 0, FLAG 1
     time  0.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move STBD_TURN   dir NORTH_WEST  loc 1988,-1010  DistToNext 59.396969
    Speed 2, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir NORTH_WEST  loc 1946,-968  DistToNext 0.000000
    Speed 2, FLAG 1
     time 53.46   tot 53.46
   [ 2]     qtv    move STBD_TURN   dir NORTH  loc 1946,-968  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot 53.46
   [ 3]     qtv    move FORWARD   dir NORTH  loc 1946,-908  DistToNext 0.000000
    Speed 4, FLAG 1
     time 27.00   tot 80.46
   [ 4]     qtv    move STBD_TURN   dir NORTH_EAST  loc 1946,-908  DistToNext 59.396969
    Speed 0, FLAG 1
     time  0.00   tot 80.46
   [ 5]     qtv    move FORWARD   dir NORTH_EAST  loc 1988,-866  DistToNext 0.000000
    Speed 5, FLAG 1
     time 21.38   tot 101.84
   [ 6]     qtv    move STBD_TURN   dir EAST  loc 1988,-866  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot 101.84
   [ 7]     qtv    move FORWARD   dir EAST  loc 2048,-866  DistToNext 0.000000
    Speed 5, FLAG 1
     time 21.60   tot 123.44
   [ 8]     qtv    move STBD_TURN   dir SOUTH_EAST  loc 2048,-866  DistToNext 59.396969
    Speed 0, FLAG 1
     time  0.00   tot 123.44
   [ 9]     qtv    move FORWARD   dir SOUTH_EAST  loc 2090,-908  DistToNext 0.000000
    Speed 5, FLAG 1
     time 21.38   tot 144.82
   [10]     qtv    move STBD_TURN   dir SOUTH  loc 2090,-908  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot 144.82
   [11]     qtv    move FORWARD   dir SOUTH  loc 2090,-968  DistToNext 0.000000
    Speed 4, FLAG 1
     time 27.00   tot 171.82
   [12]     qtv    move STBD_TURN   dir SOUTH_WEST  loc 2090,-968  DistToNext 7.071068
    Speed 0, FLAG 1
     time  0.00   tot 171.82
   [13]     qtv    move FORWARD   dir SOUTH_WEST  loc 2085,-973  DistToNext 43.840622
    Speed 2, FLAG 1
     time  6.36   tot 178.19
   [14]     qtv    move FORWARD   dir SOUTH_WEST  loc 2054,-1004  DistToNext 0.000000
    Speed 2, FLAG 2
     time 39.46   tot 217.64
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir NORTH_WEST  loc 2071,-920  DistToNext 199.404114
    Speed 2, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move BACK_SAIL   dir NORTH_WEST  loc 1930,-779  DistToNext 0.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move FORWARD   dir NORTH_WEST  loc 1930,-779  DistToNext 0.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 3]     qtv    move NO_DIRECTION   dir NORTH_WEST  loc 1930,-779  DistToNext 0.000000
    Speed 0, FLAG 1
     time  0.00   tot  0.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir SOUTH_WEST  loc 1555,-730  DistToNext 0.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move PORT_TURN   dir SOUTH  loc 1555,-730  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move FORWARD   dir SOUTH  loc 1555,-790  DistToNext 0.000000
    Speed 3, FLAG 1
     time 36.00   tot 36.00
   [ 3]     qtv    move PORT_TURN   dir SOUTH_EAST  loc 1555,-790  DistToNext 59.396969
    Speed 0, FLAG 1
     time  0.00   tot 36.00
   [ 4]     qtv    move FORWARD   dir SOUTH_EAST  loc 1597,-832  DistToNext 0.000000
    Speed 4, FLAG 1
     time 26.73   tot 62.73
   [ 5]     qtv    move PORT_TURN   dir EAST  loc 1597,-832  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot 62.73
   [ 6]     qtv    move FORWARD   dir EAST  loc 1657,-832  DistToNext 0.000000
    Speed 3, FLAG 1
     time 36.00   tot 98.73
   [ 7]     qtv    move PORT_TURN   dir NORTH_EAST  loc 1657,-832  DistToNext 118.793938
    Speed 0, FLAG 1
     time  0.00   tot 98.73
   [ 8]     qtv    move FORWARD   dir NORTH_EAST  loc 1741,-748  DistToNext 0.000000
    Speed 4, FLAG 1
     time 53.46   tot 152.18
   [ 9]     qtv    move PORT_TURN   dir NORTH  loc 1741,-748  DistToNext 45.000000
    Speed 0, FLAG 1
     time  0.00   tot 152.18
   [10]     qtv    move FORWARD   dir NORTH  loc 1741,-703  DistToNext 31.000000
    Speed 3, FLAG 1
     time 27.00   tot 179.18
   [11]     qtv    move FORWARD   dir NORTH  loc 1741,-734  DistToNext 0.000000
    Speed 3, FLAG 2
     time 18.60   tot 197.78
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir NORTH_WEST  loc 1863,-884  DistToNext 0.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move STBD_TURN   dir NORTH  loc 1863,-884  DistToNext 70.000000
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move FORWARD   dir NORTH  loc 1863,-814  DistToNext 0.000000
    Speed 2, FLAG 1
     time 63.00   tot 63.00
   [ 3]     qtv    move STBD_TURN   dir NORTH_EAST  loc 1863,-814  DistToNext 69.296463
    Speed 0, FLAG 1
     time  0.00   tot 63.00
   [ 4]     qtv    move FORWARD   dir NORTH_EAST  loc 1912,-765  DistToNext 0.000000
    Speed 4, FLAG 1
     time 31.18   tot 94.18
   [ 5]     qtv    move STBD_TURN   dir EAST  loc 1912,-765  DistToNext 70.000000
    Speed 0, FLAG 1
     time  0.00   tot 94.18
   [ 6]     qtv    move FORWARD   dir EAST  loc 1982,-765  DistToNext 0.000000
    Speed 3, FLAG 1
     time 42.00   tot 136.18
   [ 7]     qtv    move STBD_TURN   dir SOUTH_EAST  loc 1982,-765  DistToNext 69.296463
    Speed 0, FLAG 1
     time  0.00   tot 136.18
   [ 8]     qtv    move FORWARD   dir SOUTH_EAST  loc 2031,-814  DistToNext 0.000000
    Speed 4, FLAG 1
     time 31.18   tot 167.37
   [ 9]     qtv    move STBD_TURN   dir SOUTH  loc 2031,-814  DistToNext 13.000000
    Speed 0, FLAG 1
     time  0.00   tot 167.37
   [10]     qtv    move FORWARD   dir SOUTH  loc 2031,-827  DistToNext 43.000000
    Speed 2, FLAG 1
     time 11.70   tot 179.07
   [11]     qtv    move FORWARD   dir SOUTH  loc 2031,-870  DistToNext 0.000000
    Speed 2, FLAG 2
     time 38.70   tot 217.77
  End Path <===
* ==> Start Path
   [ 0]     qtv    move PORT_TURN   dir SOUTH_WEST  loc 1757,-1043  DistToNext 59.396969
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir SOUTH_WEST  loc 1715,-1085  DistToNext 0.000000
    Speed 1, FLAG 1
     time 106.91   tot 106.91
   [ 2]     qtv    move PORT_TURN   dir SOUTH  loc 1715,-1085  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot 106.91
   [ 3]     qtv    move FORWARD   dir SOUTH  loc 1715,-1145  DistToNext 0.000000
    Speed 2, FLAG 1
     time 54.00   tot 160.91
   [ 4]     qtv    move PORT_TURN   dir SOUTH_EAST  loc 1715,-1145  DistToNext 29.698484
    Speed 0, FLAG 1
     time  0.00   tot 160.91
   [ 5]     qtv    move FORWARD   dir SOUTH_EAST  loc 1736,-1166  DistToNext 0.000000
    Speed 3, FLAG 1
     time 17.82   tot 178.73
   [ 6]     qtv    move FORWARD   dir SOUTH_EAST  loc 1736,-1166  DistToNext 0.000000
    Speed 3, FLAG 2
     time  0.00   tot 178.73
  End Path <===
* ==> Start Path
   [ 0]     qtv    move STBD_TURN   dir NORTH_EAST  loc -305,107  DistToNext 39.597980
    Speed 6, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir NORTH_EAST  loc -277,135  DistToNext 0.000000
    Speed 6, FLAG 1
     time 11.88   tot 11.88
   [ 2]     qtv    move STBD_TURN   dir EAST  loc -277,135  DistToNext 40.000000
    Speed 0, FLAG 1
     time  0.00   tot 11.88
   [ 3]     qtv    move FORWARD   dir EAST  loc -237,135  DistToNext 0.000000
    Speed 5, FLAG 1
     time 14.40   tot 26.28
   [ 4]     qtv    move STBD_TURN   dir SOUTH_EAST  loc -237,135  DistToNext 511.945312
    Speed 0, FLAG 1
     time  0.00   tot 26.28
   [ 5]     qtv    move FORWARD   dir SOUTH_EAST  loc 125,-227  DistToNext 0.000000
    Speed 6, FLAG 1
     time 153.58   tot 179.86
  End Path <===
* ==> Start Path
   [ 0]     qtv    move STBD_TURN   dir NORTH  loc 874,1333  DistToNext 0.000000
    Speed 5, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move PORT_TURN   dir NORTH_WEST  loc 874,1333  DistToNext 41.012192
    Speed 5, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move FORWARD   dir NORTH_WEST  loc 845,1362  DistToNext 0.000000
    Speed 2, FLAG 1
     time 36.91   tot 36.91
   [ 3]     qtv    move PORT_TURN   dir WEST  loc 845,1362  DistToNext 40.000000
    Speed 2, FLAG 1
     time  0.00   tot 36.91
   [ 4]     qtv    move FORWARD   dir WEST  loc 805,1362  DistToNext 0.000000
    Speed 2, FLAG 1
     time 36.00   tot 72.91
   [ 5]     qtv    move PORT_TURN   dir SOUTH_WEST  loc 805,1362  DistToNext 0.000000
    Speed 2, FLAG 1
     time  0.00   tot 72.91
   [ 6]     qtv    move PORT_TURN   dir SOUTH  loc 805,1362  DistToNext 297.000000
    Speed 0, FLAG 1
     time  0.00   tot 72.91
   [ 7]     qtv    move FORWARD   dir SOUTH  loc 805,1065  DistToNext 0.000000
    Speed 5, FLAG 1
     time 106.92   tot 179.83
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir NORTH  loc 1525,-760  DistToNext 50.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir NORTH  loc 1575,-760  DistToNext 50.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir SOUTH  loc 1800,-804  DistToNext 50.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir SOUTH  loc 1850,-804  DistToNext 0.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
   [ 2]     qtv    move STBD_TURN   dir SOUTH_WEST  loc 1850,-804  DistToNext 50.000000
    Speed 0, FLAG 1
     time  0.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move PORT_TURN   dir SOUTH_WEST  loc 794,7  DistToNext 59.396969
    Speed 2, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir SOUTH_WEST  loc 752,-35  DistToNext 0.000000
    Speed 2, FLAG 1
     time 53.46   tot 53.46
   [ 2]     qtv    move PORT_TURN   dir SOUTH  loc 752,-35  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot 53.46
   [ 3]     qtv    move FORWARD   dir SOUTH  loc 752,-95  DistToNext 0.000000
    Speed 4, FLAG 1
     time 27.00   tot 80.46
   [ 4]     qtv    move PORT_TURN   dir SOUTH_EAST  loc 752,-95  DistToNext 59.396969
    Speed 0, FLAG 1
     time  0.00   tot 80.46
   [ 5]     qtv    move FORWARD   dir SOUTH_EAST  loc 794,-137  DistToNext 0.000000
    Speed 6, FLAG 1
     time 17.82   tot 98.28
   [ 6]     qtv    move PORT_TURN   dir EAST  loc 794,-137  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot 98.28
   [ 7]     qtv    move FORWARD   dir EAST  loc 854,-137  DistToNext 0.000000
    Speed 5, FLAG 1
     time 21.60   tot 119.88
   [ 8]     qtv    move PORT_TURN   dir NORTH_EAST  loc 854,-137  DistToNext 59.396969
    Speed 0, FLAG 1
     time  0.00   tot 119.88
   [ 9]     qtv    move FORWARD   dir NORTH_EAST  loc 896,-95  DistToNext 0.000000
    Speed 6, FLAG 1
     time 17.82   tot 137.69
   [10]     qtv    move PORT_TURN   dir NORTH  loc 896,-95  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot 137.69
   [11]     qtv    move FORWARD   dir NORTH  loc 896,-35  DistToNext 0.000000
    Speed 4, FLAG 1
     time 27.00   tot 164.69
   [12]     qtv    move PORT_TURN   dir NORTH_WEST  loc 896,-35  DistToNext 15.556349
    Speed 0, FLAG 1
     time  0.00   tot 164.69
   [13]     qtv    move FORWARD   dir NORTH_WEST  loc 885,-24  DistToNext 28.284271
    Speed 2, FLAG 1
     time 14.00   tot 178.69
   [14]     qtv    move FORWARD   dir NORTH_WEST  loc 865,-4  DistToNext 0.000000
    Speed 2, FLAG 2
     time 25.46   tot 204.15
  End Path <===
* ==> Start Path
   [ 0]     qtv    move NO_DIRECTION   dir SOUTH_WEST  loc 1023,609  DistToNext 59.396969
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir SOUTH_WEST  loc 981,567  DistToNext 0.000000
    Speed 1, FLAG 1
     time 106.91   tot 106.91
   [ 2]     qtv    move PORT_TURN   dir SOUTH  loc 981,567  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot 106.91
   [ 3]     qtv    move FORWARD   dir SOUTH  loc 981,507  DistToNext 0.000000
    Speed 3, FLAG 1
     time 36.00   tot 142.91
   [ 4]     qtv    move PORT_TURN   dir SOUTH_EAST  loc 981,507  DistToNext 59.396969
    Speed 0, FLAG 1
     time  0.00   tot 142.91
   [ 5]     qtv    move FORWARD   dir SOUTH_EAST  loc 1023,465  DistToNext 0.000000
    Speed 5, FLAG 1
     time 21.38   tot 164.30
   [ 6]     qtv    move PORT_TURN   dir EAST  loc 1023,465  DistToNext 32.000000
    Speed 0, FLAG 1
     time  0.00   tot 164.30
   [ 7]     qtv    move FORWARD   dir EAST  loc 1055,465  DistToNext 5.000000
    Speed 4, FLAG 1
     time 14.40   tot 178.70
   [ 8]     qtv    move FORWARD   dir EAST  loc 1050,465  DistToNext 0.000000
    Speed 4, FLAG 2
     time  2.25   tot 180.95
  End Path <===
* ==> Start Path
   [ 0]     qtv    move STBD_TURN   dir NORTH_WEST  loc 984,-738  DistToNext 197.989899
    Speed 2, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir NORTH_WEST  loc 844,-598  DistToNext 19.798990
    Speed 2, FLAG 1
     time 178.19   tot 178.19
   [ 2]     qtv    move FORWARD   dir NORTH_WEST  loc 830,-584  DistToNext 0.000000
    Speed 2, FLAG 2
     time 17.82   tot 196.01
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir SOUTH  loc 1496,-64  DistToNext 100.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir SOUTH  loc 1496,-164  DistToNext 0.000000
    Speed 1, FLAG 1
     time 180.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir NORTH_WEST  loc 477,-5  DistToNext 0.000000
    Speed 2, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move STBD_TURN   dir NORTH  loc 477,-5  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move FORWARD   dir NORTH  loc 477,55  DistToNext 0.000000
    Speed 4, FLAG 1
     time 27.00   tot 27.00
   [ 3]     qtv    move STBD_TURN   dir NORTH_EAST  loc 477,55  DistToNext 118.793938
    Speed 0, FLAG 1
     time  0.00   tot 27.00
   [ 4]     qtv    move FORWARD   dir NORTH_EAST  loc 561,139  DistToNext 0.000000
    Speed 6, FLAG 1
     time 35.64   tot 62.64
   [ 5]     qtv    move STBD_TURN   dir EAST  loc 561,139  DistToNext 120.000000
    Speed 0, FLAG 1
     time  0.00   tot 62.64
   [ 6]     qtv    move FORWARD   dir EAST  loc 681,139  DistToNext 0.000000
    Speed 5, FLAG 1
     time 43.20   tot 105.84
   [ 7]     qtv    move STBD_TURN   dir SOUTH_EAST  loc 681,139  DistToNext 118.793938
    Speed 0, FLAG 1
     time  0.00   tot 105.84
   [ 8]     qtv    move FORWARD   dir SOUTH_EAST  loc 765,55  DistToNext 0.000000
    Speed 6, FLAG 1
     time 35.64   tot 141.48
   [ 9]     qtv    move STBD_TURN   dir SOUTH  loc 765,55  DistToNext 84.000000
    Speed 0, FLAG 1
     time  0.00   tot 141.48
   [10]     qtv    move FORWARD   dir SOUTH  loc 765,-29  DistToNext 0.000000
    Speed 4, FLAG 1
     time 37.80   tot 179.27
  End Path <===
* ==> Start Path
   [ 0]     qtv    move STBD_TURN   dir NORTH_WEST  loc 1640,-1023  DistToNext 39.597980
    Speed 2, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir NORTH_WEST  loc 1612,-995  DistToNext 0.000000
    Speed 2, FLAG 1
     time 35.64   tot 35.64
   [ 2]     qtv    move STBD_TURN   dir NORTH  loc 1612,-995  DistToNext 480.000000
    Speed 0, FLAG 1
     time  0.00   tot 35.64
   [ 3]     qtv    move FORWARD   dir NORTH  loc 1612,-515  DistToNext 0.000000
    Speed 6, FLAG 1
     time 144.00   tot 179.64
  End Path <===
* ==> Start Path
   [ 0]     qtv    move PORT_TURN   dir EAST  loc 1635,-1525  DistToNext 50.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir EAST  loc 1685,-1525  DistToNext 0.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
   [ 2]     qtv    move PORT_TURN   dir NORTH_EAST  loc 1685,-1525  DistToNext 50.000000
    Speed 0, FLAG 1
     time  0.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir EAST  loc 2009,-869  DistToNext 0.000000
    Speed 5, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move STBD_TURN   dir SOUTH_EAST  loc 2009,-869  DistToNext 59.396969
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move FORWARD   dir SOUTH_EAST  loc 2051,-911  DistToNext 0.000000
    Speed 5, FLAG 1
     time 21.38   tot 21.38
   [ 3]     qtv    move STBD_TURN   dir SOUTH  loc 2051,-911  DistToNext 120.000000
    Speed 0, FLAG 1
     time  0.00   tot 21.38
   [ 4]     qtv    move FORWARD   dir SOUTH  loc 2051,-1031  DistToNext 0.000000
    Speed 4, FLAG 1
     time 54.00   tot 75.38
   [ 5]     qtv    move STBD_TURN   dir SOUTH_WEST  loc 2051,-1031  DistToNext 60.811184
    Speed 0, FLAG 1
     time  0.00   tot 75.38
   [ 6]     qtv    move FORWARD   dir SOUTH_WEST  loc 2008,-1074  DistToNext 0.000000
    Speed 2, FLAG 1
     time 54.73   tot 130.11
   [ 7]     qtv    move STBD_TURN   dir WEST  loc 2008,-1074  DistToNext 60.000000
    Speed 2, FLAG 1
     time  0.00   tot 130.11
   [ 8]     qtv    move FORWARD   dir WEST  loc 1948,-1074  DistToNext 0.000000
    Speed 2, FLAG 1
     time 54.00   tot 184.11
   [ 9]     qtv    move STBD_TURN   dir NORTH_WEST  loc 1948,-1074  DistToNext 0.000000
    Speed 2, FLAG 1
     time  0.00   tot 184.11
   [10]     qtv    move STBD_TURN   dir NORTH  loc 1948,-1074  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot 184.11
   [11]     qtv    move FORWARD   dir NORTH  loc 1948,-1014  DistToNext 0.000000
    Speed 4, FLAG 1
     time 27.00   tot 211.11
   [12]     qtv    move STBD_TURN   dir NORTH_EAST  loc 1948,-1014  DistToNext 118.793938
    Speed 4, FLAG 1
     time  0.00   tot 211.11
   [13]     qtv    move FORWARD   dir NORTH_EAST  loc 2032,-930  DistToNext 0.000000
    Speed 5, FLAG 1
     time 42.77   tot 253.88
   [14]     qtv    move PORT_TURN   dir NORTH  loc 2032,-930  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot 253.88
   [15]     qtv    move FORWARD   dir NORTH  loc 2032,-870  DistToNext 0.000000
    Speed 4, FLAG 1
     time 27.00   tot 280.88
   [16]     qtv    move PORT_TURN   dir NORTH_WEST  loc 2032,-870  DistToNext 60.811184
    Speed 4, FLAG 1
     time  0.00   tot 280.88
   [17]     qtv    move FORWARD   dir NORTH_WEST  loc 1989,-827  DistToNext 0.000000
    Speed 2, FLAG 1
     time 54.73   tot 335.61
   [18]     qtv    move PORT_TURN   dir WEST  loc 1989,-827  DistToNext 0.000000
    Speed 2, FLAG 1
     time  0.00   tot 335.61
   [19]     qtv    move PORT_TURN   dir SOUTH_WEST  loc 1989,-827  DistToNext 60.811184
    Speed 0, FLAG 1
     time  0.00   tot 335.61
   [20]     qtv    move FORWARD   dir SOUTH_WEST  loc 1946,-870  DistToNext 0.000000
    Speed 2, FLAG 1
     time 54.73   tot 390.34
   [21]     qtv    move STBD_TURN   dir WEST  loc 1946,-870  DistToNext -58.427483
    Speed 2, FLAG 1
     time  0.00   tot 390.34
   [22]     qtv    move FORWARD   dir WEST  loc 1888,-870  DistToNext 0.000000
    Speed -1, FLAG 1
     time -210.34   tot 180.00
   [23]     qtv    move PORT_TURN   dir SOUTH_WEST  loc 1888,-870  DistToNext -58.427483
    Speed 0, FLAG 1
     time  0.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir NORTH_WEST  loc 1958,-788  DistToNext 0.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move BACK_SAIL   dir NORTH  loc 1958,-788  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move STBD_TURN   dir NORTH  loc 1958,-788  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 3]     qtv    move FORWARD   dir NORTH  loc 1958,-728  DistToNext 0.000000
    Speed 2, FLAG 1
     time 54.00   tot 54.00
   [ 4]     qtv    move STBD_TURN   dir NORTH_EAST  loc 1958,-728  DistToNext 59.396969
    Speed 0, FLAG 1
     time  0.00   tot 54.00
   [ 5]     qtv    move FORWARD   dir NORTH_EAST  loc 2000,-686  DistToNext 0.000000
    Speed 4, FLAG 1
     time 26.73   tot 80.73
   [ 6]     qtv    move STBD_TURN   dir EAST  loc 2000,-686  DistToNext 120.000000
    Speed 0, FLAG 1
     time  0.00   tot 80.73
   [ 7]     qtv    move FORWARD   dir EAST  loc 2120,-686  DistToNext 0.000000
    Speed 3, FLAG 1
     time 72.00   tot 152.73
   [ 8]     qtv    move STBD_TURN   dir SOUTH_EAST  loc 2120,-686  DistToNext 72.124893
    Speed 0, FLAG 1
     time  0.00   tot 152.73
   [ 9]     qtv    move FORWARD   dir SOUTH_EAST  loc 2171,-737  DistToNext 0.000000
    Speed 5, FLAG 1
     time 25.96   tot 178.69
   [10]     qtv    move NO_DIRECTION   dir SOUTH_EAST  loc 2171,-737  DistToNext 118.793938
    Speed 0, FLAG 1
     time  0.00   tot 178.69
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir SOUTH  loc 1598,-762  DistToNext 120.000000
    Speed 3, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move BACK_SAIL   dir SOUTH  loc 1598,-882  DistToNext 0.000000
    Speed 2, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move FORWARD   dir SOUTH  loc 1598,-882  DistToNext 0.000000
    Speed 2, FLAG 1
     time  0.00   tot  0.00
   [ 3]     qtv    move STBD_TURN   dir SOUTH_WEST  loc 1598,-882  DistToNext 59.396969
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 4]     qtv    move FORWARD   dir SOUTH_WEST  loc 1556,-924  DistToNext 0.000000
    Speed 1, FLAG 1
     time 106.91   tot 106.91
   [ 5]     qtv    move NO_DIRECTION   dir SOUTH_WEST  loc 1556,-924  DistToNext 0.000000
    Speed 0, FLAG 1
     time  0.00   tot 106.91
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir NORTH_EAST  loc 1894,-816  DistToNext 0.000000
    Speed 4, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move STBD_TURN   dir EAST  loc 1894,-816  DistToNext 70.000000
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move FORWARD   dir EAST  loc 1964,-816  DistToNext 0.000000
    Speed 3, FLAG 1
     time 42.00   tot 42.00
   [ 3]     qtv    move STBD_TURN   dir SOUTH_EAST  loc 1964,-816  DistToNext 138.592926
    Speed 0, FLAG 1
     time  0.00   tot 42.00
   [ 4]     qtv    move FORWARD   dir SOUTH_EAST  loc 2062,-914  DistToNext 0.000000
    Speed 4, FLAG 1
     time 62.37   tot 104.37
   [ 5]     qtv    move STBD_TURN   dir SOUTH  loc 2062,-914  DistToNext 70.000000
    Speed 0, FLAG 1
     time  0.00   tot 104.37
   [ 6]     qtv    move FORWARD   dir SOUTH  loc 2062,-984  DistToNext 0.000000
    Speed 2, FLAG 1
     time 63.00   tot 167.37
   [ 7]     qtv    move STBD_TURN   dir SOUTH_WEST  loc 2062,-984  DistToNext 70.710678
    Speed 2, FLAG 1
     time  0.00   tot 167.37
   [ 8]     qtv    move FORWARD   dir SOUTH_WEST  loc 2012,-1034  DistToNext 0.000000
    Speed 1, FLAG 1
     time 127.28   tot 294.64
   [ 9]     qtv    move STBD_TURN   dir WEST  loc 2012,-1034  DistToNext 0.000000
    Speed 1, FLAG 1
     time  0.00   tot 294.64
   [10]     qtv    move STBD_TURN   dir NORTH_WEST  loc 2012,-1034  DistToNext 70.710678
    Speed 0, FLAG 1
     time  0.00   tot 294.64
   [11]     qtv    move FORWARD   dir NORTH_WEST  loc 1962,-984  DistToNext 0.000000
    Speed 1, FLAG 1
     time 127.28   tot 421.92
   [12]     qtv    move STBD_TURN   dir NORTH  loc 1962,-984  DistToNext 83.000000
    Speed 1, FLAG 1
     time  0.00   tot 421.92
   [13]     qtv    move FORWARD   dir NORTH  loc 1962,-901  DistToNext 0.000000
    Speed 2, FLAG 1
     time 74.70   tot 496.62
  End Path <===
* ==> Start Path
   [ 0]     qtv    move PORT_TURN   dir SOUTH_EAST  loc 1736,-1166  DistToNext 299.813263
    Speed 3, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir SOUTH_EAST  loc 1948,-1378  DistToNext 0.000000
    Speed 3, FLAG 1
     time 179.89   tot 179.89
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir SOUTH_EAST  loc 125,-227  DistToNext 0.000000
    Speed 6, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move STBD_TURN   dir SOUTH  loc 125,-227  DistToNext 40.000000
    Speed 6, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move FORWARD   dir SOUTH  loc 125,-267  DistToNext 0.000000
    Speed 4, FLAG 1
     time 18.00   tot 18.00
   [ 3]     qtv    move STBD_TURN   dir SOUTH_WEST  loc 125,-267  DistToNext 41.012192
    Speed 4, FLAG 1
     time  0.00   tot 18.00
   [ 4]     qtv    move FORWARD   dir SOUTH_WEST  loc 96,-296  DistToNext 0.000000
    Speed 2, FLAG 1
     time 36.91   tot 54.91
   [ 5]     qtv    move STBD_TURN   dir WEST  loc 96,-296  DistToNext 0.000000
    Speed 2, FLAG 1
     time  0.00   tot 54.91
   [ 6]     qtv    move STBD_TURN   dir NORTH_WEST  loc 96,-296  DistToNext 80.610176
    Speed 0, FLAG 1
     time  0.00   tot 54.91
   [ 7]     qtv    move FORWARD   dir NORTH_WEST  loc 39,-239  DistToNext 0.000000
    Speed 2, FLAG 1
     time 72.55   tot 127.46
   [ 8]     qtv    move PORT_TURN   dir WEST  loc 39,-239  DistToNext 40.000000
    Speed 0, FLAG 1
     time  0.00   tot 127.46
   [ 9]     qtv    move FORWARD   dir WEST  loc -1,-239  DistToNext 0.000000
    Speed 0, FLAG 1
     time   inf   tot   inf
   [10]     qtv    move PORT_TURN   dir SOUTH_WEST  loc -1,-239  DistToNext 41.012192
    Speed 0, FLAG 1
     time  0.00   tot   inf
   [11]     qtv    move FORWARD   dir SOUTH_WEST  loc -30,-268  DistToNext 0.000000
    Speed 2, FLAG 1
     time 36.91   tot   inf
   [12]     qtv    move PORT_TURN   dir SOUTH  loc -30,-268  DistToNext 0.000000
    Speed 2, FLAG 1
     time  0.00   tot   inf
   [13]     qtv    move PORT_TURN   dir SOUTH_EAST  loc -30,-268  DistToNext 41.012192
    Speed 0, FLAG 1
     time  0.00   tot   inf
   [14]     qtv    move FORWARD   dir SOUTH_EAST  loc -1,-297  DistToNext 0.000000
    Speed 6, FLAG 1
     time 12.30   tot   inf
   [15]     qtv    move STBD_TURN   dir SOUTH  loc -1,-297  DistToNext 40.000000
    Speed 6, FLAG 1
     time  0.00   tot   inf
   [16]     qtv    move FORWARD   dir SOUTH  loc -1,-337  DistToNext 0.000000
    Speed 4, FLAG 1
     time 18.00   tot   inf
   [17]     qtv    move STBD_TURN   dir SOUTH_WEST  loc -1,-337  DistToNext 41.012192
    Speed 0, FLAG 1
     time  0.00   tot   inf
   [18]     qtv    move FORWARD   dir SOUTH_WEST  loc -30,-366  DistToNext 0.000000
    Speed 2, FLAG 1
     time 36.91   tot   inf
   [19]     qtv    move STBD_TURN   dir WEST  loc -30,-366  DistToNext 40.000000
    Speed 2, FLAG 1
     time  0.00   tot   inf
   [20]     qtv    move FORWARD   dir WEST  loc -70,-366  DistToNext 0.000000
    Speed 2, FLAG 1
     time 36.00   tot   inf
   [21]     qtv    move STBD_TURN   dir NORTH_WEST  loc -70,-366  DistToNext 0.000000
    Speed 2, FLAG 1
     time  0.00   tot   inf
   [22]     qtv    move STBD_TURN   dir NORTH  loc -70,-366  DistToNext 40.000000
    Speed 0, FLAG 1
     time  0.00   tot   inf
   [23]     qtv    move FORWARD   dir NORTH  loc -70,-326  DistToNext 0.000000
    Speed 4, FLAG 1
     time 18.00   tot   inf
   [24]     qtv    move STBD_TURN   dir NORTH_EAST  loc -70,-326  DistToNext 39.597980
    Speed 4, FLAG 1
     time  0.00   tot   inf
   [25]     qtv    move FORWARD   dir NORTH_EAST  loc -42,-298  DistToNext 0.000000
    Speed 6, FLAG 1
     time 11.88   tot   inf
   [26]     qtv    move PORT_TURN   dir NORTH  loc -42,-298  DistToNext 40.000000
    Speed 0, FLAG 1
     time  0.00   tot   inf
   [27]     qtv    move FORWARD   dir NORTH  loc -42,-258  DistToNext 0.000000
    Speed 4, FLAG 1
     time 18.00   tot   inf
   [28]     qtv    move PORT_TURN   dir NORTH_WEST  loc -42,-258  DistToNext 41.012192
    Speed 4, FLAG 1
     time  0.00   tot   inf
   [29]     qtv    move FORWARD   dir NORTH_WEST  loc -71,-229  DistToNext 0.000000
    Speed 2, FLAG 1
     time 36.91   tot   inf
   [30]     qtv    move PORT_TURN   dir WEST  loc -71,-229  DistToNext 0.000000
    Speed 2, FLAG 1
     time  0.00   tot   inf
   [31]     qtv    move PORT_TURN   dir SOUTH_WEST  loc -71,-229  DistToNext 41.012192
    Speed 0, FLAG 1
     time  0.00   tot   inf
   [32]     qtv    move FORWARD   dir SOUTH_WEST  loc -100,-258  DistToNext 0.000000
    Speed 2, FLAG 1
     time 36.91   tot   inf
   [33]     qtv    move STBD_TURN   dir WEST  loc -100,-258  DistToNext -inf
    Speed 2, FLAG 1
     time  0.00   tot   inf
   [34]     qtv    move FORWARD   dir WEST  loc 2147483548,-258  DistToNext 0.000000
    Speed -1, FLAG 1
     time  -inf   tot  -nan
   [35]     qtv    move STBD_TURN   dir NORTH_WEST  loc 2147483548,-258  DistToNext -inf
    Speed 0, FLAG 1
     time  0.00   tot  -nan
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir SOUTH  loc 805,1065  DistToNext 0.000000
    Speed 5, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move STBD_TURN   dir SOUTH_WEST  loc 805,1065  DistToNext 41.012192
    Speed 5, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move FORWARD   dir SOUTH_WEST  loc 776,1036  DistToNext 0.000000
    Speed 2, FLAG 1
     time 36.91   tot 36.91
   [ 3]     qtv    move STBD_TURN   dir WEST  loc 776,1036  DistToNext 40.000000
    Speed 2, FLAG 1
     time  0.00   tot 36.91
   [ 4]     qtv    move FORWARD   dir WEST  loc 736,1036  DistToNext 0.000000
    Speed 2, FLAG 1
     time 36.00   tot 72.91
   [ 5]     qtv    move STBD_TURN   dir NORTH_WEST  loc 736,1036  DistToNext 0.000000
    Speed 2, FLAG 1
     time  0.00   tot 72.91
   [ 6]     qtv    move STBD_TURN   dir NORTH  loc 736,1036  DistToNext 40.000000
    Speed 0, FLAG 1
     time  0.00   tot 72.91
   [ 7]     qtv    move FORWARD   dir NORTH  loc 736,1076  DistToNext 0.000000
    Speed 5, FLAG 1
     time 14.40   tot 87.31
   [ 8]     qtv    move PORT_TURN   dir NORTH_WEST  loc 736,1076  DistToNext 39.597980
    Speed 5, FLAG 1
     time  0.00   tot 87.31
   [ 9]     qtv    move FORWARD   dir NORTH_WEST  loc 708,1104  DistToNext 0.000000
    Speed 2, FLAG 1
     time 35.64   tot 122.95
   [10]     qtv    move PORT_TURN   dir WEST  loc 708,1104  DistToNext 40.000000
    Speed 0, FLAG 1
     time  0.00   tot 122.95
   [11]     qtv    move FORWARD   dir WEST  loc 668,1104  DistToNext 0.000000
    Speed 0, FLAG 1
     time   inf   tot   inf
   [12]     qtv    move PORT_TURN   dir SOUTH_WEST  loc 668,1104  DistToNext 41.012192
    Speed 0, FLAG 1
     time  0.00   tot   inf
   [13]     qtv    move FORWARD   dir SOUTH_WEST  loc 639,1075  DistToNext 0.000000
    Speed 2, FLAG 1
     time 36.91   tot   inf
   [14]     qtv    move PORT_TURN   dir SOUTH  loc 639,1075  DistToNext 0.000000
    Speed 2, FLAG 1
     time  0.00   tot   inf
   [15]     qtv    move PORT_TURN   dir SOUTH_EAST  loc 639,1075  DistToNext 41.012192
    Speed 0, FLAG 1
     time  0.00   tot   inf
   [16]     qtv    move FORWARD   dir SOUTH_EAST  loc 668,1046  DistToNext 0.000000
    Speed 8, FLAG 1
     time  9.23   tot   inf
   [17]     qtv    move STBD_TURN   dir SOUTH  loc 668,1046  DistToNext 40.000000
    Speed 8, FLAG 1
     time  0.00   tot   inf
   [18]     qtv    move FORWARD   dir SOUTH  loc 668,1006  DistToNext 0.000000
    Speed 5, FLAG 1
     time 14.40   tot   inf
   [19]     qtv    move STBD_TURN   dir SOUTH_WEST  loc 668,1006  DistToNext 41.012192
    Speed 0, FLAG 1
     time  0.00   tot   inf
   [20]     qtv    move FORWARD   dir SOUTH_WEST  loc 639,977  DistToNext 0.000000
    Speed 2, FLAG 1
     time 36.91   tot   inf
   [21]     qtv    move STBD_TURN   dir WEST  loc 639,977  DistToNext 40.000000
    Speed 2, FLAG 1
     time  0.00   tot   inf
   [22]     qtv    move FORWARD   dir WEST  loc 599,977  DistToNext 0.000000
    Speed 2, FLAG 1
     time 36.00   tot   inf
   [23]     qtv    move STBD_TURN   dir NORTH_WEST  loc 599,977  DistToNext 0.000000
    Speed 2, FLAG 1
     time  0.00   tot   inf
   [24]     qtv    move STBD_TURN   dir NORTH  loc 599,977  DistToNext 40.000000
    Speed 0, FLAG 1
     time  0.00   tot   inf
   [25]     qtv    move FORWARD   dir NORTH  loc 599,1017  DistToNext 0.000000
    Speed 5, FLAG 1
     time 14.40   tot   inf
   [26]     qtv    move STBD_TURN   dir NORTH_EAST  loc 599,1017  DistToNext 39.597980
    Speed 5, FLAG 1
     time  0.00   tot   inf
   [27]     qtv    move FORWARD   dir NORTH_EAST  loc 627,1045  DistToNext 0.000000
    Speed 8, FLAG 1
     time  8.91   tot   inf
   [28]     qtv    move PORT_TURN   dir NORTH  loc 627,1045  DistToNext 40.000000
    Speed 0, FLAG 1
     time  0.00   tot   inf
   [29]     qtv    move FORWARD   dir NORTH  loc 627,1085  DistToNext 0.000000
    Speed 5, FLAG 1
     time 14.40   tot   inf
   [30]     qtv    move PORT_TURN   dir NORTH_WEST  loc 627,1085  DistToNext 41.012192
    Speed 5, FLAG 1
     time  0.00   tot   inf
   [31]     qtv    move FORWARD   dir NORTH_WEST  loc 598,1114  DistToNext 0.000000
    Speed 2, FLAG 1
     time 36.91   tot   inf
   [32]     qtv    move PORT_TURN   dir WEST  loc 598,1114  DistToNext 0.000000
    Speed 2, FLAG 1
     time  0.00   tot   inf
   [33]     qtv    move PORT_TURN   dir SOUTH_WEST  loc 598,1114  DistToNext 41.012192
    Speed 0, FLAG 1
     time  0.00   tot   inf
   [34]     qtv    move FORWARD   dir SOUTH_WEST  loc 569,1085  DistToNext 0.000000
    Speed 2, FLAG 1
     time 36.91   tot   inf
   [35]     qtv    move STBD_TURN   dir WEST  loc 569,1085  DistToNext -inf
    Speed 2, FLAG 1
     time  0.00   tot   inf
   [36]     qtv    move FORWARD   dir WEST  loc -2147483079,1085  DistToNext 0.000000
    Speed -1, FLAG 1
     time  -inf   tot  -nan
   [37]     qtv    move STBD_TURN   dir NORTH_WEST  loc -2147483079,1085  DistToNext -inf
    Speed 0, FLAG 1
     time  0.00   tot  -nan
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir NORTH  loc 1580,-760  DistToNext 50.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir NORTH  loc 1630,-760  DistToNext 0.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
   [ 2]     qtv    move STBD_TURN   dir NORTH_EAST  loc 1630,-760  DistToNext 50.000000
    Speed 0, FLAG 1
     time  0.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir SOUTH  loc 1776,-714  DistToNext 50.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir SOUTH  loc 1826,-714  DistToNext 0.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
   [ 2]     qtv    move STBD_TURN   dir SOUTH_WEST  loc 1826,-714  DistToNext 50.000000
    Speed 0, FLAG 1
     time  0.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move PORT_TURN   dir NORTH_WEST  loc 885,-24  DistToNext 59.396969
    Speed 2, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir NORTH_WEST  loc 843,18  DistToNext 0.000000
    Speed 2, FLAG 1
     time 53.46   tot 53.46
   [ 2]     qtv    move STBD_TURN   dir NORTH  loc 843,18  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot 53.46
   [ 3]     qtv    move FORWARD   dir NORTH  loc 843,78  DistToNext 0.000000
    Speed 4, FLAG 1
     time 27.00   tot 80.46
   [ 4]     qtv    move STBD_TURN   dir NORTH_EAST  loc 843,78  DistToNext 59.396969
    Speed 0, FLAG 1
     time  0.00   tot 80.46
   [ 5]     qtv    move FORWARD   dir NORTH_EAST  loc 885,120  DistToNext 0.000000
    Speed 6, FLAG 1
     time 17.82   tot 98.28
   [ 6]     qtv    move STBD_TURN   dir EAST  loc 885,120  DistToNext 225.000000
    Speed 0, FLAG 1
     time  0.00   tot 98.28
   [ 7]     qtv    move FORWARD   dir EAST  loc 1110,120  DistToNext 0.000000
    Speed 5, FLAG 1
     time 81.00   tot 179.27
  End Path <===
* ==> Start Path
   [ 0]     qtv    move NO_DIRECTION   dir EAST  loc 1055,465  DistToNext 60.000000
    Speed 4, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir EAST  loc 1115,465  DistToNext 0.000000
    Speed 4, FLAG 1
     time 27.00   tot 27.00
   [ 2]     qtv    move PORT_TURN   dir NORTH_EAST  loc 1115,465  DistToNext 60.811184
    Speed 4, FLAG 1
     time  0.00   tot 27.00
   [ 3]     qtv    move FORWARD   dir NORTH_EAST  loc 1158,508  DistToNext 0.000000
    Speed 5, FLAG 1
     time 21.89   tot 48.89
   [ 4]     qtv    move PORT_TURN   dir NORTH  loc 1158,508  DistToNext 60.000000
    Speed 5, FLAG 1
     time  0.00   tot 48.89
   [ 5]     qtv    move FORWARD   dir NORTH  loc 1158,568  DistToNext 0.000000
    Speed 3, FLAG 1
     time 36.00   tot 84.89
   [ 6]     qtv    move PORT_TURN   dir NORTH_WEST  loc 1158,568  DistToNext 0.000000
    Speed 3, FLAG 1
     time  0.00   tot 84.89
   [ 7]     qtv    move PORT_TURN   dir WEST  loc 1158,568  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot 84.89
   [ 8]     qtv    move FORWARD   dir WEST  loc 1098,568  DistToNext 0.000000
    Speed 3, FLAG 1
     time 36.00   tot 120.89
   [ 9]     qtv    move PORT_TURN   dir SOUTH_WEST  loc 1098,568  DistToNext 32.526913
    Speed 3, FLAG 1
     time  0.00   tot 120.89
   [10]     qtv    move FORWARD   dir SOUTH_WEST  loc 1075,545  DistToNext 5.656854
    Speed 1, FLAG 1
     time 58.55   tot 179.44
   [11]     qtv    move FORWARD   dir SOUTH_WEST  loc 1079,549  DistToNext 0.000000
    Speed 1, FLAG 2
     time 10.18   tot 189.62
  End Path <===
* ==> Start Path
   [ 0]     qtv    move STBD_TURN   dir NORTH_WEST  loc 844,-598  DistToNext 197.989899
    Speed 2, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir NORTH_WEST  loc 704,-458  DistToNext 19.798990
    Speed 2, FLAG 1
     time 178.19   tot 178.19
   [ 2]     qtv    move FORWARD   dir NORTH_WEST  loc 690,-444  DistToNext 0.000000
    Speed 2, FLAG 2
     time 17.82   tot 196.01
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir SOUTH  loc 1496,-164  DistToNext 100.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir SOUTH  loc 1496,-264  DistToNext 0.000000
    Speed 1, FLAG 1
     time 180.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir SOUTH  loc 765,-29  DistToNext 0.000000
    Speed 4, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move STBD_TURN   dir SOUTH_WEST  loc 765,-29  DistToNext 60.811184
    Speed 4, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move FORWARD   dir SOUTH_WEST  loc 722,-72  DistToNext 0.000000
    Speed 2, FLAG 1
     time 54.73   tot 54.73
   [ 3]     qtv    move STBD_TURN   dir WEST  loc 722,-72  DistToNext 60.000000
    Speed 2, FLAG 1
     time  0.00   tot 54.73
   [ 4]     qtv    move FORWARD   dir WEST  loc 662,-72  DistToNext 0.000000
    Speed 2, FLAG 1
     time 54.00   tot 108.73
   [ 5]     qtv    move STBD_TURN   dir NORTH_WEST  loc 662,-72  DistToNext 0.000000
    Speed 2, FLAG 1
     time  0.00   tot 108.73
   [ 6]     qtv    move STBD_TURN   dir NORTH  loc 662,-72  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot 108.73
   [ 7]     qtv    move FORWARD   dir NORTH  loc 662,-12  DistToNext 0.000000
    Speed 4, FLAG 1
     time 27.00   tot 135.73
   [ 8]     qtv    move PORT_TURN   dir NORTH_WEST  loc 662,-12  DistToNext 48.083260
    Speed 4, FLAG 1
     time  0.00   tot 135.73
   [ 9]     qtv    move FORWARD   dir NORTH_WEST  loc 628,22  DistToNext 38.183765
    Speed 2, FLAG 1
     time 43.27   tot 179.00
   [10]     qtv    move FORWARD   dir NORTH_WEST  loc 655,-5  DistToNext 0.000000
    Speed 2, FLAG 2
     time 34.37   tot 213.37
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir NORTH  loc 1636,-811  DistToNext 50.000000
    Speed 6, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir NORTH  loc 1686,-811  DistToNext 50.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move PORT_TURN   dir NORTH_EAST  loc 1685,-1525  DistToNext 50.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir NORTH_EAST  loc 1735,-1525  DistToNext 0.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
   [ 2]     qtv    move PORT_TURN   dir NORTH  loc 1735,-1525  DistToNext 50.000000
    Speed 0, FLAG 1
     time  0.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move PORT_TURN   dir WEST  loc 1888,-870  DistToNext 50.000000
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir WEST  loc 1938,-870  DistToNext 0.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
   [ 2]     qtv    move PORT_TURN   dir SOUTH_WEST  loc 1938,-870  DistToNext 50.000000
    Speed 0, FLAG 1
     time  0.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move NO_DIRECTION   dir SOUTH_EAST  loc 2171,-737  DistToNext 178.190903
    Speed 4, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir SOUTH_EAST  loc 2297,-863  DistToNext 0.000000
    Speed 4, FLAG 1
     time 80.19   tot 80.19
   [ 2]     qtv    move STBD_TURN   dir SOUTH  loc 2297,-863  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot 80.19
   [ 3]     qtv    move FORWARD   dir SOUTH  loc 2297,-923  DistToNext 0.000000
    Speed 2, FLAG 1
     time 54.00   tot 134.18
   [ 4]     qtv    move STBD_TURN   dir SOUTH_WEST  loc 2297,-923  DistToNext 60.811184
    Speed 2, FLAG 1
     time  0.00   tot 134.18
   [ 5]     qtv    move FORWARD   dir SOUTH_WEST  loc 2254,-966  DistToNext 0.000000
    Speed 1, FLAG 1
     time 109.46   tot 243.64
   [ 6]     qtv    move STBD_TURN   dir WEST  loc 2254,-966  DistToNext 0.000000
    Speed 1, FLAG 1
     time  0.00   tot 243.64
   [ 7]     qtv    move STBD_TURN   dir NORTH_WEST  loc 2254,-966  DistToNext 60.811184
    Speed 0, FLAG 1
     time  0.00   tot 243.64
   [ 8]     qtv    move FORWARD   dir NORTH_WEST  loc 2211,-923  DistToNext 0.000000
    Speed 1, FLAG 1
     time 109.46   tot 353.10
   [ 9]     qtv    move STBD_TURN   dir NORTH  loc 2211,-923  DistToNext 110.000000
    Speed 1, FLAG 1
     time  0.00   tot 353.10
   [10]     qtv    move FORWARD   dir NORTH  loc 2211,-813  DistToNext 0.000000
    Speed 2, FLAG 1
     time 99.00   tot 452.10
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir SOUTH  loc 1647,-762  DistToNext 0.000000
    Speed 2, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move PORT_TURN   dir SOUTH_EAST  loc 1647,-762  DistToNext 59.396969
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move FORWARD   dir SOUTH_EAST  loc 1689,-804  DistToNext 0.000000
    Speed 3, FLAG 1
     time 35.64   tot 35.64
   [ 3]     qtv    move PORT_TURN   dir EAST  loc 1689,-804  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot 35.64
   [ 4]     qtv    move FORWARD   dir EAST  loc 1749,-804  DistToNext 0.000000
    Speed 2, FLAG 1
     time 54.00   tot 89.64
   [ 5]     qtv    move PORT_TURN   dir NORTH_EAST  loc 1749,-804  DistToNext 59.396969
    Speed 0, FLAG 1
     time  0.00   tot 89.64
   [ 6]     qtv    move FORWARD   dir NORTH_EAST  loc 1791,-762  DistToNext 0.000000
    Speed 3, FLAG 1
     time 35.64   tot 125.28
   [ 7]     qtv    move PORT_TURN   dir NORTH  loc 1791,-762  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot 125.28
   [ 8]     qtv    move FORWARD   dir NORTH  loc 1791,-702  DistToNext 0.000000
    Speed 2, FLAG 1
     time 54.00   tot 179.27
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir SOUTH_WEST  loc 1962,-901  DistToNext 0.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move PORT_TURN   dir SOUTH  loc 1962,-901  DistToNext 140.000000
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move FORWARD   dir SOUTH  loc 1962,-1041  DistToNext 0.000000
    Speed 2, FLAG 1
     time 126.00   tot 126.00
   [ 3]     qtv    move PORT_TURN   dir SOUTH_EAST  loc 1962,-1041  DistToNext 118.793938
    Speed 0, FLAG 1
     time  0.00   tot 126.00
   [ 4]     qtv    move FORWARD   dir SOUTH_EAST  loc 2046,-1125  DistToNext 0.000000
    Speed 4, FLAG 1
     time 53.46   tot 179.46
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir SOUTH_EAST  loc 1948,-1378  DistToNext 118.793938
    Speed 3, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir SOUTH_EAST  loc 2032,-1462  DistToNext 0.000000
    Speed 3, FLAG 1
     time 71.28   tot 71.28
   [ 2]     qtv    move STBD_TURN   dir SOUTH  loc 2032,-1462  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot 71.28
   [ 3]     qtv    move FORWARD   dir SOUTH  loc 2032,-1522  DistToNext 0.000000
    Speed 2, FLAG 1
     time 54.00   tot 125.28
   [ 4]     qtv    move STBD_TURN   dir SOUTH_WEST  loc 2032,-1522  DistToNext 60.811184
    Speed 2, FLAG 1
     time  0.00   tot 125.28
   [ 5]     qtv    move FORWARD   dir SOUTH_WEST  loc 1989,-1565  DistToNext 0.000000
    Speed 1, FLAG 1
     time 109.46   tot 234.73
   [ 6]     qtv    move STBD_TURN   dir WEST  loc 1989,-1565  DistToNext 0.000000
    Speed 1, FLAG 1
     time  0.00   tot 234.73
   [ 7]     qtv    move STBD_TURN   dir NORTH_WEST  loc 1989,-1565  DistToNext 60.811184
    Speed 0, FLAG 1
     time  0.00   tot 234.73
   [ 8]     qtv    move FORWARD   dir NORTH_WEST  loc 1946,-1522  DistToNext 0.000000
    Speed 1, FLAG 1
     time 109.46   tot 344.19
   [ 9]     qtv    move STBD_TURN   dir NORTH  loc 1946,-1522  DistToNext 120.000000
    Speed 1, FLAG 1
     time  0.00   tot 344.19
   [10]     qtv    move FORWARD   dir NORTH  loc 1946,-1402  DistToNext 0.000000
    Speed 2, FLAG 1
     time 108.00   tot 452.19
  End Path <===
* ==> Start Path
   [ 0]     qtv    move STBD_TURN   dir SOUTH_WEST  loc -100,-258  DistToNext 39.597980
    Speed 2, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir SOUTH_WEST  loc -128,-286  DistToNext 0.000000
    Speed 2, FLAG 1
     time 35.64   tot 35.64
   [ 2]     qtv    move PORT_TURN   dir SOUTH  loc -128,-286  DistToNext 0.000000
    Speed 0, FLAG 1
     time  0.00   tot 35.64
   [ 3]     qtv    move STBD_TURN   dir SOUTH_WEST  loc -128,-286  DistToNext 41.012192
    Speed 2, FLAG 1
     time  0.00   tot 35.64
   [ 4]     qtv    move FORWARD   dir SOUTH_WEST  loc -157,-315  DistToNext 0.000000
    Speed 2, FLAG 1
     time 36.91   tot 72.55
   [ 5]     qtv    move STBD_TURN   dir WEST  loc -157,-315  DistToNext 40.000000
    Speed 2, FLAG 1
     time  0.00   tot 72.55
   [ 6]     qtv    move FORWARD   dir WEST  loc -197,-315  DistToNext 0.000000
    Speed 2, FLAG 1
     time 36.00   tot 108.55
   [ 7]     qtv    move STBD_TURN   dir NORTH_WEST  loc -197,-315  DistToNext 0.000000
    Speed 2, FLAG 1
     time  0.00   tot 108.55
   [ 8]     qtv    move STBD_TURN   dir NORTH  loc -197,-315  DistToNext 40.000000
    Speed 0, FLAG 1
     time  0.00   tot 108.55
   [ 9]     qtv    move FORWARD   dir NORTH  loc -197,-275  DistToNext 0.000000
    Speed 4, FLAG 1
     time 18.00   tot 126.55
   [10]     qtv    move PORT_TURN   dir NORTH_WEST  loc -197,-275  DistToNext 57.982758
    Speed 4, FLAG 1
     time  0.00   tot 126.55
   [11]     qtv    move FORWARD   dir NORTH_WEST  loc -238,-234  DistToNext 1.414214
    Speed 2, FLAG 1
     time 52.18   tot 178.73
   [12]     qtv    move FORWARD   dir NORTH_WEST  loc -239,-233  DistToNext 0.000000
    Speed 2, FLAG 2
     time  1.27   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move STBD_TURN   dir SOUTH_WEST  loc 569,1085  DistToNext 39.597980
    Speed 2, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir SOUTH_WEST  loc 541,1057  DistToNext 0.000000
    Speed 2, FLAG 1
     time 35.64   tot 35.64
   [ 2]     qtv    move PORT_TURN   dir SOUTH  loc 541,1057  DistToNext 40.000000
    Speed 0, FLAG 1
     time  0.00   tot 35.64
   [ 3]     qtv    move FORWARD   dir SOUTH  loc 541,1017  DistToNext 0.000000
    Speed 5, FLAG 1
     time 14.40   tot 50.04
   [ 4]     qtv    move PORT_TURN   dir SOUTH_EAST  loc 541,1017  DistToNext 575.584900
    Speed 0, FLAG 1
     time  0.00   tot 50.04
   [ 5]     qtv    move FORWARD   dir SOUTH_EAST  loc 948,610  DistToNext 0.000000
    Speed 8, FLAG 1
     time 129.51   tot 179.54
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir NORTH  loc 1629,-760  DistToNext 50.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir NORTH  loc 1679,-760  DistToNext 50.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move STBD_TURN   dir SOUTH_WEST  loc 1826,-714  DistToNext 50.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir SOUTH_WEST  loc 1876,-714  DistToNext 0.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
   [ 2]     qtv    move PORT_TURN   dir SOUTH  loc 1876,-714  DistToNext 50.000000
    Speed 0, FLAG 1
     time  0.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir EAST  loc 1110,120  DistToNext 0.000000
    Speed 5, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move PORT_TURN   dir NORTH_EAST  loc 1110,120  DistToNext 59.396969
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move FORWARD   dir NORTH_EAST  loc 1152,162  DistToNext 0.000000
    Speed 6, FLAG 1
     time 17.82   tot 17.82
   [ 3]     qtv    move PORT_TURN   dir NORTH  loc 1152,162  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot 17.82
   [ 4]     qtv    move FORWARD   dir NORTH  loc 1152,222  DistToNext 0.000000
    Speed 4, FLAG 1
     time 27.00   tot 44.82
   [ 5]     qtv    move PORT_TURN   dir NORTH_WEST  loc 1152,222  DistToNext 118.793938
    Speed 0, FLAG 1
     time  0.00   tot 44.82
   [ 6]     qtv    move FORWARD   dir NORTH_WEST  loc 1068,306  DistToNext 0.000000
    Speed 2, FLAG 1
     time 106.91   tot 151.73
   [ 7]     qtv    move PORT_TURN   dir WEST  loc 1068,306  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot 151.73
   [ 8]     qtv    move FORWARD   dir WEST  loc 1008,306  DistToNext 0.000000
    Speed 0, FLAG 1
     time   inf   tot   inf
   [ 9]     qtv    move PORT_TURN   dir SOUTH_WEST  loc 1008,306  DistToNext 60.811184
    Speed 0, FLAG 1
     time  0.00   tot   inf
   [10]     qtv    move FORWARD   dir SOUTH_WEST  loc 965,263  DistToNext 0.000000
    Speed 2, FLAG 1
     time 54.73   tot   inf
   [11]     qtv    move PORT_TURN   dir SOUTH  loc 965,263  DistToNext 0.000000
    Speed 2, FLAG 1
     time  0.00   tot   inf
   [12]     qtv    move PORT_TURN   dir SOUTH_EAST  loc 965,263  DistToNext 60.811184
    Speed 0, FLAG 1
     time  0.00   tot   inf
   [13]     qtv    move FORWARD   dir SOUTH_EAST  loc 1008,220  DistToNext 0.000000
    Speed 6, FLAG 1
     time 18.24   tot   inf
   [14]     qtv    move STBD_TURN   dir SOUTH  loc 1008,220  DistToNext 60.000000
    Speed 6, FLAG 1
     time  0.00   tot   inf
   [15]     qtv    move FORWARD   dir SOUTH  loc 1008,160  DistToNext 0.000000
    Speed 4, FLAG 1
     time 27.00   tot   inf
  End Path <===
* ==> Start Path
   [ 0]     qtv    move NO_DIRECTION   dir SOUTH_WEST  loc 1075,545  DistToNext 59.396969
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir SOUTH_WEST  loc 1033,503  DistToNext 0.000000
    Speed 1, FLAG 1
     time 106.91   tot 106.91
   [ 2]     qtv    move PORT_TURN   dir SOUTH  loc 1033,503  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot 106.91
   [ 3]     qtv    move FORWARD   dir SOUTH  loc 1033,443  DistToNext 0.000000
    Speed 3, FLAG 1
     time 36.00   tot 142.91
   [ 4]     qtv    move PORT_TURN   dir SOUTH_EAST  loc 1033,443  DistToNext 59.396969
    Speed 0, FLAG 1
     time  0.00   tot 142.91
   [ 5]     qtv    move FORWARD   dir SOUTH_EAST  loc 1075,401  DistToNext 0.000000
    Speed 5, FLAG 1
     time 21.38   tot 164.30
   [ 6]     qtv    move PORT_TURN   dir EAST  loc 1075,401  DistToNext 32.000000
    Speed 0, FLAG 1
     time  0.00   tot 164.30
   [ 7]     qtv    move FORWARD   dir EAST  loc 1107,401  DistToNext 5.000000
    Speed 4, FLAG 1
     time 14.40   tot 178.70
   [ 8]     qtv    move FORWARD   dir EAST  loc 1102,401  DistToNext 0.000000
    Speed 4, FLAG 2
     time  2.25   tot 180.95
  End Path <===
* ==> Start Path
   [ 0]     qtv    move STBD_TURN   dir NORTH_WEST  loc 704,-458  DistToNext 59.396969
    Speed 2, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir NORTH_WEST  loc 662,-416  DistToNext 0.000000
    Speed 2, FLAG 1
     time 53.46   tot 53.46
   [ 2]     qtv    move STBD_TURN   dir NORTH  loc 662,-416  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot 53.46
   [ 3]     qtv    move FORWARD   dir NORTH  loc 662,-356  DistToNext 0.000000
    Speed 4, FLAG 1
     time 27.00   tot 80.46
   [ 4]     qtv    move STBD_TURN   dir NORTH_EAST  loc 662,-356  DistToNext 326.683319
    Speed 0, FLAG 1
     time  0.00   tot 80.46
   [ 5]     qtv    move FORWARD   dir NORTH_EAST  loc 893,-125  DistToNext 0.000000
    Speed 6, FLAG 1
     time 98.00   tot 178.46
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir SOUTH  loc 1496,-264  DistToNext 100.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir SOUTH  loc 1496,-364  DistToNext 0.000000
    Speed 1, FLAG 1
     time 180.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir NORTH_WEST  loc 628,22  DistToNext 0.000000
    Speed 2, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move STBD_TURN   dir NORTH  loc 628,22  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move FORWARD   dir NORTH  loc 628,82  DistToNext 0.000000
    Speed 4, FLAG 1
     time 27.00   tot 27.00
   [ 3]     qtv    move STBD_TURN   dir NORTH_EAST  loc 628,82  DistToNext 118.793938
    Speed 0, FLAG 1
     time  0.00   tot 27.00
   [ 4]     qtv    move FORWARD   dir NORTH_EAST  loc 712,166  DistToNext 0.000000
    Speed 6, FLAG 1
     time 35.64   tot 62.64
   [ 5]     qtv    move STBD_TURN   dir EAST  loc 712,166  DistToNext 120.000000
    Speed 0, FLAG 1
     time  0.00   tot 62.64
   [ 6]     qtv    move FORWARD   dir EAST  loc 832,166  DistToNext 0.000000
    Speed 5, FLAG 1
     time 43.20   tot 105.84
   [ 7]     qtv    move STBD_TURN   dir SOUTH_EAST  loc 832,166  DistToNext 118.793938
    Speed 0, FLAG 1
     time  0.00   tot 105.84
   [ 8]     qtv    move FORWARD   dir SOUTH_EAST  loc 916,82  DistToNext 0.000000
    Speed 6, FLAG 1
     time 35.64   tot 141.48
   [ 9]     qtv    move STBD_TURN   dir SOUTH  loc 916,82  DistToNext 84.000000
    Speed 0, FLAG 1
     time  0.00   tot 141.48
   [10]     qtv    move FORWARD   dir SOUTH  loc 916,-2  DistToNext 0.000000
    Speed 4, FLAG 1
     time 37.80   tot 179.27
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir NORTH  loc 1685,-811  DistToNext 50.000000
    Speed 6, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir NORTH  loc 1735,-811  DistToNext 50.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move PORT_TURN   dir NORTH  loc 1735,-1525  DistToNext 50.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir NORTH  loc 1785,-1525  DistToNext 50.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move PORT_TURN   dir SOUTH_WEST  loc 1938,-870  DistToNext 59.396969
    Speed 2, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir SOUTH_WEST  loc 1896,-912  DistToNext 0.000000
    Speed 2, FLAG 1
     time 53.46   tot 53.46
   [ 2]     qtv    move PORT_TURN   dir SOUTH  loc 1896,-912  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot 53.46
   [ 3]     qtv    move FORWARD   dir SOUTH  loc 1896,-972  DistToNext 0.000000
    Speed 4, FLAG 1
     time 27.00   tot 80.46
   [ 4]     qtv    move PORT_TURN   dir SOUTH_EAST  loc 1896,-972  DistToNext 59.396969
    Speed 0, FLAG 1
     time  0.00   tot 80.46
   [ 5]     qtv    move FORWARD   dir SOUTH_EAST  loc 1938,-1014  DistToNext 0.000000
    Speed 5, FLAG 1
     time 21.38   tot 101.84
   [ 6]     qtv    move PORT_TURN   dir EAST  loc 1938,-1014  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot 101.84
   [ 7]     qtv    move FORWARD   dir EAST  loc 1998,-1014  DistToNext 0.000000
    Speed 5, FLAG 1
     time 21.60   tot 123.44
   [ 8]     qtv    move PORT_TURN   dir NORTH_EAST  loc 1998,-1014  DistToNext 59.396969
    Speed 0, FLAG 1
     time  0.00   tot 123.44
   [ 9]     qtv    move FORWARD   dir NORTH_EAST  loc 2040,-972  DistToNext 0.000000
    Speed 5, FLAG 1
     time 21.38   tot 144.82
   [10]     qtv    move PORT_TURN   dir NORTH  loc 2040,-972  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot 144.82
   [11]     qtv    move FORWARD   dir NORTH  loc 2040,-912  DistToNext 0.000000
    Speed 4, FLAG 1
     time 27.00   tot 171.82
   [12]     qtv    move PORT_TURN   dir NORTH_WEST  loc 2040,-912  DistToNext 7.071068
    Speed 0, FLAG 1
     time  0.00   tot 171.82
   [13]     qtv    move FORWARD   dir NORTH_WEST  loc 2035,-907  DistToNext 43.840622
    Speed 2, FLAG 1
     time  6.36   tot 178.19
   [14]     qtv    move FORWARD   dir NORTH_WEST  loc 2004,-876  DistToNext 0.000000
    Speed 2, FLAG 2
     time 39.46   tot 217.64
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir SOUTH_WEST  loc 2211,-813  DistToNext 0.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move PORT_TURN   dir SOUTH  loc 2211,-813  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move FORWARD   dir SOUTH  loc 2211,-873  DistToNext 0.000000
    Speed 2, FLAG 1
     time 54.00   tot 54.00
   [ 3]     qtv    move PORT_TURN   dir SOUTH_EAST  loc 2211,-873  DistToNext 59.396969
    Speed 0, FLAG 1
     time  0.00   tot 54.00
   [ 4]     qtv    move FORWARD   dir SOUTH_EAST  loc 2253,-915  DistToNext 0.000000
    Speed 4, FLAG 1
     time 26.73   tot 80.73
   [ 5]     qtv    move PORT_TURN   dir EAST  loc 2253,-915  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot 80.73
   [ 6]     qtv    move FORWARD   dir EAST  loc 2313,-915  DistToNext 0.000000
    Speed 3, FLAG 1
     time 36.00   tot 116.73
   [ 7]     qtv    move PORT_TURN   dir NORTH_EAST  loc 2313,-915  DistToNext 59.396969
    Speed 0, FLAG 1
     time  0.00   tot 116.73
   [ 8]     qtv    move FORWARD   dir NORTH_EAST  loc 2355,-873  DistToNext 0.000000
    Speed 4, FLAG 1
     time 26.73   tot 143.46
   [ 9]     qtv    move PORT_TURN   dir NORTH  loc 2355,-873  DistToNext 40.000000
    Speed 0, FLAG 1
     time  0.00   tot 143.46
   [10]     qtv    move FORWARD   dir NORTH  loc 2355,-833  DistToNext 21.000000
    Speed 2, FLAG 1
     time 36.00   tot 179.46
   [11]     qtv    move FORWARD   dir NORTH  loc 2355,-854  DistToNext 0.000000
    Speed 2, FLAG 2
     time 18.90   tot 198.36
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir SOUTH_EAST  loc 1696,-762  DistToNext 0.000000
    Speed 3, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move PORT_TURN   dir EAST  loc 1696,-762  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move FORWARD   dir EAST  loc 1756,-762  DistToNext 0.000000
    Speed 2, FLAG 1
     time 54.00   tot 54.00
   [ 3]     qtv    move PORT_TURN   dir NORTH_EAST  loc 1756,-762  DistToNext 59.396969
    Speed 0, FLAG 1
     time  0.00   tot 54.00
   [ 4]     qtv    move FORWARD   dir NORTH_EAST  loc 1798,-720  DistToNext 0.000000
    Speed 3, FLAG 1
     time 35.64   tot 89.64
   [ 5]     qtv    move PORT_TURN   dir NORTH  loc 1798,-720  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot 89.64
   [ 6]     qtv    move FORWARD   dir NORTH  loc 1798,-660  DistToNext 0.000000
    Speed 2, FLAG 1
     time 54.00   tot 143.64
   [ 7]     qtv    move PORT_TURN   dir NORTH_WEST  loc 1798,-660  DistToNext 19.798990
    Speed 0, FLAG 1
     time  0.00   tot 143.64
   [ 8]     qtv    move FORWARD   dir NORTH_WEST  loc 1784,-646  DistToNext 19.798990
    Speed 1, FLAG 1
     time 35.64   tot 179.27
   [ 9]     qtv    move FORWARD   dir NORTH_WEST  loc 1770,-632  DistToNext 0.000000
    Speed 1, FLAG 2
     time 35.64   tot 214.91
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir SOUTH_EAST  loc 2046,-1125  DistToNext 0.000000
    Speed 4, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move PORT_TURN   dir EAST  loc 2046,-1125  DistToNext 70.000000
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move FORWARD   dir EAST  loc 2116,-1125  DistToNext 0.000000
    Speed 3, FLAG 1
     time 42.00   tot 42.00
   [ 3]     qtv    move PORT_TURN   dir NORTH_EAST  loc 2116,-1125  DistToNext 69.296463
    Speed 0, FLAG 1
     time  0.00   tot 42.00
   [ 4]     qtv    move FORWARD   dir NORTH_EAST  loc 2165,-1076  DistToNext 0.000000
    Speed 4, FLAG 1
     time 31.18   tot 73.18
   [ 5]     qtv    move PORT_TURN   dir NORTH  loc 2165,-1076  DistToNext 70.000000
    Speed 0, FLAG 1
     time  0.00   tot 73.18
   [ 6]     qtv    move FORWARD   dir NORTH  loc 2165,-1006  DistToNext 0.000000
    Speed 2, FLAG 1
     time 63.00   tot 136.18
   [ 7]     qtv    move PORT_TURN   dir NORTH_WEST  loc 2165,-1006  DistToNext 24.041630
    Speed 0, FLAG 1
     time  0.00   tot 136.18
   [ 8]     qtv    move FORWARD   dir NORTH_WEST  loc 2148,-989  DistToNext 21.213203
    Speed 1, FLAG 1
     time 43.27   tot 179.46
   [ 9]     qtv    move FORWARD   dir NORTH_WEST  loc 2133,-974  DistToNext 0.000000
    Speed 1, FLAG 2
     time 38.18   tot 217.64
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir SOUTH_WEST  loc 1946,-1402  DistToNext 0.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move PORT_TURN   dir SOUTH  loc 1946,-1402  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move FORWARD   dir SOUTH  loc 1946,-1462  DistToNext 0.000000
    Speed 2, FLAG 1
     time 54.00   tot 54.00
   [ 3]     qtv    move PORT_TURN   dir SOUTH_EAST  loc 1946,-1462  DistToNext 59.396969
    Speed 0, FLAG 1
     time  0.00   tot 54.00
   [ 4]     qtv    move FORWARD   dir SOUTH_EAST  loc 1988,-1504  DistToNext 0.000000
    Speed 3, FLAG 1
     time 35.64   tot 89.64
   [ 5]     qtv    move PORT_TURN   dir EAST  loc 1988,-1504  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot 89.64
   [ 6]     qtv    move FORWARD   dir EAST  loc 2048,-1504  DistToNext 0.000000
    Speed 3, FLAG 1
     time 36.00   tot 125.64
   [ 7]     qtv    move PORT_TURN   dir NORTH_EAST  loc 2048,-1504  DistToNext 59.396969
    Speed 0, FLAG 1
     time  0.00   tot 125.64
   [ 8]     qtv    move FORWARD   dir NORTH_EAST  loc 2090,-1462  DistToNext 0.000000
    Speed 3, FLAG 1
     time 35.64   tot 161.28
   [ 9]     qtv    move PORT_TURN   dir NORTH  loc 2090,-1462  DistToNext 20.000000
    Speed 0, FLAG 1
     time  0.00   tot 161.28
   [10]     qtv    move FORWARD   dir NORTH  loc 2090,-1442  DistToNext 19.000000
    Speed 2, FLAG 1
     time 18.00   tot 179.27
   [11]     qtv    move FORWARD   dir NORTH  loc 2090,-1423  DistToNext 0.000000
    Speed 2, FLAG 2
     time 17.10   tot 196.37
  End Path <===
* ==> Start Path
   [ 0]     qtv    move STBD_TURN   dir NORTH_WEST  loc -238,-234  DistToNext 39.597980
    Speed 2, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir NORTH_WEST  loc -266,-206  DistToNext 0.000000
    Speed 2, FLAG 1
     time 35.64   tot 35.64
   [ 2]     qtv    move STBD_TURN   dir NORTH  loc -266,-206  DistToNext 40.000000
    Speed 0, FLAG 1
     time  0.00   tot 35.64
   [ 3]     qtv    move FORWARD   dir NORTH  loc -266,-166  DistToNext 0.000000
    Speed 4, FLAG 1
     time 18.00   tot 53.64
   [ 4]     qtv    move STBD_TURN   dir NORTH_EAST  loc -266,-166  DistToNext 39.597980
    Speed 0, FLAG 1
     time  0.00   tot 53.64
   [ 5]     qtv    move FORWARD   dir NORTH_EAST  loc -238,-138  DistToNext 0.000000
    Speed 6, FLAG 1
     time 11.88   tot 65.52
   [ 6]     qtv    move STBD_TURN   dir EAST  loc -238,-138  DistToNext 316.000000
    Speed 0, FLAG 1
     time  0.00   tot 65.52
   [ 7]     qtv    move FORWARD   dir EAST  loc 78,-138  DistToNext 0.000000
    Speed 5, FLAG 1
     time 113.76   tot 179.28
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir SOUTH_EAST  loc 948,610  DistToNext 0.000000
    Speed 8, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move STBD_TURN   dir SOUTH  loc 948,610  DistToNext 40.000000
    Speed 8, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move FORWARD   dir SOUTH  loc 948,570  DistToNext 0.000000
    Speed 5, FLAG 1
     time 14.40   tot 14.40
   [ 3]     qtv    move STBD_TURN   dir SOUTH_WEST  loc 948,570  DistToNext 41.012192
    Speed 5, FLAG 1
     time  0.00   tot 14.40
   [ 4]     qtv    move FORWARD   dir SOUTH_WEST  loc 919,541  DistToNext 0.000000
    Speed 2, FLAG 1
     time 36.91   tot 51.31
   [ 5]     qtv    move STBD_TURN   dir WEST  loc 919,541  DistToNext 0.000000
    Speed 2, FLAG 1
     time  0.00   tot 51.31
   [ 6]     qtv    move STBD_TURN   dir NORTH_WEST  loc 919,541  DistToNext 80.610176
    Speed 0, FLAG 1
     time  0.00   tot 51.31
   [ 7]     qtv    move FORWARD   dir NORTH_WEST  loc 862,598  DistToNext 0.000000
    Speed 2, FLAG 1
     time 72.55   tot 123.86
   [ 8]     qtv    move PORT_TURN   dir WEST  loc 862,598  DistToNext 40.000000
    Speed 0, FLAG 1
     time  0.00   tot 123.86
   [ 9]     qtv    move FORWARD   dir WEST  loc 822,598  DistToNext 0.000000
    Speed 0, FLAG 1
     time   inf   tot   inf
   [10]     qtv    move PORT_TURN   dir SOUTH_WEST  loc 822,598  DistToNext 41.012192
    Speed 0, FLAG 1
     time  0.00   tot   inf
   [11]     qtv    move FORWARD   dir SOUTH_WEST  loc 793,569  DistToNext 0.000000
    Speed 2, FLAG 1
     time 36.91   tot   inf
   [12]     qtv    move PORT_TURN   dir SOUTH  loc 793,569  DistToNext 0.000000
    Speed 2, FLAG 1
     time  0.00   tot   inf
   [13]     qtv    move PORT_TURN   dir SOUTH_EAST  loc 793,569  DistToNext 41.012192
    Speed 0, FLAG 1
     time  0.00   tot   inf
   [14]     qtv    move FORWARD   dir SOUTH_EAST  loc 822,540  DistToNext 0.000000
    Speed 8, FLAG 1
     time  9.23   tot   inf
   [15]     qtv    move STBD_TURN   dir SOUTH  loc 822,540  DistToNext 40.000000
    Speed 8, FLAG 1
     time  0.00   tot   inf
   [16]     qtv    move FORWARD   dir SOUTH  loc 822,500  DistToNext 0.000000
    Speed 5, FLAG 1
     time 14.40   tot   inf
   [17]     qtv    move STBD_TURN   dir SOUTH_WEST  loc 822,500  DistToNext 41.012192
    Speed 0, FLAG 1
     time  0.00   tot   inf
   [18]     qtv    move FORWARD   dir SOUTH_WEST  loc 793,471  DistToNext 0.000000
    Speed 2, FLAG 1
     time 36.91   tot   inf
   [19]     qtv    move STBD_TURN   dir WEST  loc 793,471  DistToNext 40.000000
    Speed 2, FLAG 1
     time  0.00   tot   inf
   [20]     qtv    move FORWARD   dir WEST  loc 753,471  DistToNext 0.000000
    Speed 2, FLAG 1
     time 36.00   tot   inf
   [21]     qtv    move STBD_TURN   dir NORTH_WEST  loc 753,471  DistToNext 0.000000
    Speed 2, FLAG 1
     time  0.00   tot   inf
   [22]     qtv    move STBD_TURN   dir NORTH  loc 753,471  DistToNext 40.000000
    Speed 0, FLAG 1
     time  0.00   tot   inf
   [23]     qtv    move FORWARD   dir NORTH  loc 753,511  DistToNext 0.000000
    Speed 5, FLAG 1
     time 14.40   tot   inf
   [24]     qtv    move STBD_TURN   dir NORTH_EAST  loc 753,511  DistToNext 39.597980
    Speed 5, FLAG 1
     time  0.00   tot   inf
   [25]     qtv    move FORWARD   dir NORTH_EAST  loc 781,539  DistToNext 0.000000
    Speed 8, FLAG 1
     time  8.91   tot   inf
   [26]     qtv    move PORT_TURN   dir NORTH  loc 781,539  DistToNext 40.000000
    Speed 0, FLAG 1
     time  0.00   tot   inf
   [27]     qtv    move FORWARD   dir NORTH  loc 781,579  DistToNext 0.000000
    Speed 5, FLAG 1
     time 14.40   tot   inf
   [28]     qtv    move PORT_TURN   dir NORTH_WEST  loc 781,579  DistToNext 41.012192
    Speed 5, FLAG 1
     time  0.00   tot   inf
   [29]     qtv    move FORWARD   dir NORTH_WEST  loc 752,608  DistToNext 0.000000
    Speed 2, FLAG 1
     time 36.91   tot   inf
   [30]     qtv    move PORT_TURN   dir WEST  loc 752,608  DistToNext 0.000000
    Speed 2, FLAG 1
     time  0.00   tot   inf
   [31]     qtv    move PORT_TURN   dir SOUTH_WEST  loc 752,608  DistToNext 41.012192
    Speed 0, FLAG 1
     time  0.00   tot   inf
   [32]     qtv    move FORWARD   dir SOUTH_WEST  loc 723,579  DistToNext 0.000000
    Speed 2, FLAG 1
     time 36.91   tot   inf
   [33]     qtv    move STBD_TURN   dir WEST  loc 723,579  DistToNext -inf
    Speed 2, FLAG 1
     time  0.00   tot   inf
   [34]     qtv    move FORWARD   dir WEST  loc -2147482925,579  DistToNext -inf
    Speed -1, FLAG 1
     time  -inf   tot  -nan
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir NORTH  loc 1677,-760  DistToNext 50.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir NORTH  loc 1727,-760  DistToNext 50.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move PORT_TURN   dir SOUTH  loc 1876,-714  DistToNext 50.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir SOUTH  loc 1926,-714  DistToNext 0.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
   [ 2]     qtv    move STBD_TURN   dir SOUTH_WEST  loc 1926,-714  DistToNext 50.000000
    Speed 0, FLAG 1
     time  0.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir WEST  loc 1008,160  DistToNext 50.000000
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir WEST  loc 1058,160  DistToNext 0.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
   [ 2]     qtv    move STBD_TURN   dir NORTH_WEST  loc 1058,160  DistToNext 50.000000
    Speed 0, FLAG 1
     time  0.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move NO_DIRECTION   dir EAST  loc 1107,401  DistToNext 60.000000
    Speed 4, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir EAST  loc 1167,401  DistToNext 0.000000
    Speed 4, FLAG 1
     time 27.00   tot 27.00
   [ 2]     qtv    move STBD_TURN   dir SOUTH_EAST  loc 1167,401  DistToNext 60.811184
    Speed 4, FLAG 1
     time  0.00   tot 27.00
   [ 3]     qtv    move FORWARD   dir SOUTH_EAST  loc 1210,358  DistToNext 0.000000
    Speed 5, FLAG 1
     time 21.89   tot 48.89
   [ 4]     qtv    move STBD_TURN   dir SOUTH  loc 1210,358  DistToNext 60.000000
    Speed 5, FLAG 1
     time  0.00   tot 48.89
   [ 5]     qtv    move FORWARD   dir SOUTH  loc 1210,298  DistToNext 0.000000
    Speed 3, FLAG 1
     time 36.00   tot 84.89
   [ 6]     qtv    move STBD_TURN   dir SOUTH_WEST  loc 1210,298  DistToNext 0.000000
    Speed 3, FLAG 1
     time  0.00   tot 84.89
   [ 7]     qtv    move STBD_TURN   dir WEST  loc 1210,298  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot 84.89
   [ 8]     qtv    move FORWARD   dir WEST  loc 1150,298  DistToNext 0.000000
    Speed 3, FLAG 1
     time 36.00   tot 120.89
   [ 9]     qtv    move STBD_TURN   dir NORTH_WEST  loc 1150,298  DistToNext 32.526913
    Speed 3, FLAG 1
     time  0.00   tot 120.89
   [10]     qtv    move FORWARD   dir NORTH_WEST  loc 1127,321  DistToNext 5.656854
    Speed 1, FLAG 1
     time 58.55   tot 179.44
   [11]     qtv    move FORWARD   dir NORTH_WEST  loc 1131,317  DistToNext 0.000000
    Speed 1, FLAG 2
     time 10.18   tot 189.62
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir NORTH_EAST  loc 893,-125  DistToNext 0.000000
    Speed 6, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move PORT_TURN   dir NORTH  loc 893,-125  DistToNext 60.000000
    Speed 6, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move FORWARD   dir NORTH  loc 893,-65  DistToNext 0.000000
    Speed 4, FLAG 1
     time 27.00   tot 27.00
   [ 3]     qtv    move PORT_TURN   dir NORTH_WEST  loc 893,-65  DistToNext 60.811184
    Speed 4, FLAG 1
     time  0.00   tot 27.00
   [ 4]     qtv    move FORWARD   dir NORTH_WEST  loc 850,-22  DistToNext 0.000000
    Speed 2, FLAG 1
     time 54.73   tot 81.73
   [ 5]     qtv    move PORT_TURN   dir WEST  loc 850,-22  DistToNext 0.000000
    Speed 2, FLAG 1
     time  0.00   tot 81.73
   [ 6]     qtv    move PORT_TURN   dir SOUTH_WEST  loc 850,-22  DistToNext 108.894447
    Speed 0, FLAG 1
     time  0.00   tot 81.73
   [ 7]     qtv    move FORWARD   dir SOUTH_WEST  loc 773,-99  DistToNext 36.769554
    Speed 2, FLAG 1
     time 98.00   tot 179.73
   [ 8]     qtv    move FORWARD   dir SOUTH_WEST  loc 799,-73  DistToNext 0.000000
    Speed 2, FLAG 2
     time 33.09   tot 212.83
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir SOUTH  loc 1496,-364  DistToNext 0.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move PORT_TURN   dir SOUTH_EAST  loc 1496,-364  DistToNext 299.813263
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move FORWARD   dir SOUTH_EAST  loc 1708,-576  DistToNext 0.000000
    Speed 3, FLAG 1
     time 179.89   tot 179.89
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir SOUTH  loc 916,-2  DistToNext 0.000000
    Speed 4, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move STBD_TURN   dir SOUTH_WEST  loc 916,-2  DistToNext 60.811184
    Speed 4, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move FORWARD   dir SOUTH_WEST  loc 873,-45  DistToNext 0.000000
    Speed 2, FLAG 1
     time 54.73   tot 54.73
   [ 3]     qtv    move STBD_TURN   dir WEST  loc 873,-45  DistToNext 60.000000
    Speed 2, FLAG 1
     time  0.00   tot 54.73
   [ 4]     qtv    move FORWARD   dir WEST  loc 813,-45  DistToNext 0.000000
    Speed 2, FLAG 1
     time 54.00   tot 108.73
   [ 5]     qtv    move STBD_TURN   dir NORTH_WEST  loc 813,-45  DistToNext 0.000000
    Speed 2, FLAG 1
     time  0.00   tot 108.73
   [ 6]     qtv    move STBD_TURN   dir NORTH  loc 813,-45  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot 108.73
   [ 7]     qtv    move FORWARD   dir NORTH  loc 813,15  DistToNext 0.000000
    Speed 4, FLAG 1
     time 27.00   tot 135.73
   [ 8]     qtv    move PORT_TURN   dir NORTH_WEST  loc 813,15  DistToNext 48.083260
    Speed 4, FLAG 1
     time  0.00   tot 135.73
   [ 9]     qtv    move FORWARD   dir NORTH_WEST  loc 779,49  DistToNext 38.183765
    Speed 2, FLAG 1
     time 43.27   tot 179.00
   [10]     qtv    move FORWARD   dir NORTH_WEST  loc 806,22  DistToNext 0.000000
    Speed 2, FLAG 2
     time 34.37   tot 213.37
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir NORTH  loc 1734,-811  DistToNext 50.000000
    Speed 6, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir NORTH  loc 1784,-811  DistToNext 50.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir NORTH  loc 1785,-1525  DistToNext 50.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir NORTH  loc 1835,-1525  DistToNext 0.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
   [ 2]     qtv    move PORT_TURN   dir NORTH_WEST  loc 1835,-1525  DistToNext 50.000000
    Speed 0, FLAG 1
     time  0.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move PORT_TURN   dir NORTH_WEST  loc 2035,-907  DistToNext 199.404114
    Speed 2, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir NORTH_WEST  loc 1894,-766  DistToNext 0.000000
    Speed 2, FLAG 1
     time 179.46   tot 179.46
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir NORTH  loc 2355,-833  DistToNext 0.000000
    Speed 2, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move STBD_TURN   dir NORTH_EAST  loc 2355,-833  DistToNext 59.396969
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move FORWARD   dir NORTH_EAST  loc 2397,-791  DistToNext 0.000000
    Speed 4, FLAG 1
     time 26.73   tot 26.73
   [ 3]     qtv    move STBD_TURN   dir EAST  loc 2397,-791  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot 26.73
   [ 4]     qtv    move FORWARD   dir EAST  loc 2457,-791  DistToNext 0.000000
    Speed 3, FLAG 1
     time 36.00   tot 62.73
   [ 5]     qtv    move STBD_TURN   dir SOUTH_EAST  loc 2457,-791  DistToNext 118.793938
    Speed 0, FLAG 1
     time  0.00   tot 62.73
   [ 6]     qtv    move FORWARD   dir SOUTH_EAST  loc 2541,-875  DistToNext 0.000000
    Speed 4, FLAG 1
     time 53.46   tot 116.18
   [ 7]     qtv    move STBD_TURN   dir SOUTH  loc 2541,-875  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot 116.18
   [ 8]     qtv    move FORWARD   dir SOUTH  loc 2541,-935  DistToNext 0.000000
    Speed 2, FLAG 1
     time 54.00   tot 170.18
   [ 9]     qtv    move STBD_TURN   dir SOUTH_WEST  loc 2541,-935  DistToNext 60.811184
    Speed 2, FLAG 1
     time  0.00   tot 170.18
   [10]     qtv    move FORWARD   dir SOUTH_WEST  loc 2498,-978  DistToNext 0.000000
    Speed 1, FLAG 1
     time 109.46   tot 279.64
   [11]     qtv    move STBD_TURN   dir WEST  loc 2498,-978  DistToNext 0.000000
    Speed 1, FLAG 1
     time  0.00   tot 279.64
   [12]     qtv    move STBD_TURN   dir NORTH_WEST  loc 2498,-978  DistToNext 60.811184
    Speed 0, FLAG 1
     time  0.00   tot 279.64
   [13]     qtv    move FORWARD   dir NORTH_WEST  loc 2455,-935  DistToNext 0.000000
    Speed 1, FLAG 1
     time 109.46   tot 389.10
   [14]     qtv    move STBD_TURN   dir NORTH  loc 2455,-935  DistToNext 70.000000
    Speed 1, FLAG 1
     time  0.00   tot 389.10
   [15]     qtv    move FORWARD   dir NORTH  loc 2455,-865  DistToNext 0.000000
    Speed 2, FLAG 1
     time 63.00   tot 452.10
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir EAST  loc 1745,-762  DistToNext 0.000000
    Speed 2, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move PORT_TURN   dir NORTH_EAST  loc 1745,-762  DistToNext 59.396969
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move FORWARD   dir NORTH_EAST  loc 1787,-720  DistToNext 0.000000
    Speed 3, FLAG 1
     time 35.64   tot 35.64
   [ 3]     qtv    move PORT_TURN   dir NORTH  loc 1787,-720  DistToNext 160.000000
    Speed 0, FLAG 1
     time  0.00   tot 35.64
   [ 4]     qtv    move FORWARD   dir NORTH  loc 1787,-560  DistToNext 0.000000
    Speed 2, FLAG 1
     time 144.00   tot 179.64
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir NORTH_WEST  loc 2148,-989  DistToNext 0.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move STBD_TURN   dir NORTH  loc 2148,-989  DistToNext 70.000000
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move FORWARD   dir NORTH  loc 2148,-919  DistToNext 0.000000
    Speed 2, FLAG 1
     time 63.00   tot 63.00
   [ 3]     qtv    move STBD_TURN   dir NORTH_EAST  loc 2148,-919  DistToNext 69.296463
    Speed 0, FLAG 1
     time  0.00   tot 63.00
   [ 4]     qtv    move FORWARD   dir NORTH_EAST  loc 2197,-870  DistToNext 0.000000
    Speed 4, FLAG 1
     time 31.18   tot 94.18
   [ 5]     qtv    move STBD_TURN   dir EAST  loc 2197,-870  DistToNext 70.000000
    Speed 0, FLAG 1
     time  0.00   tot 94.18
   [ 6]     qtv    move FORWARD   dir EAST  loc 2267,-870  DistToNext 0.000000
    Speed 3, FLAG 1
     time 42.00   tot 136.18
   [ 7]     qtv    move STBD_TURN   dir SOUTH_EAST  loc 2267,-870  DistToNext 69.296463
    Speed 0, FLAG 1
     time  0.00   tot 136.18
   [ 8]     qtv    move FORWARD   dir SOUTH_EAST  loc 2316,-919  DistToNext 0.000000
    Speed 4, FLAG 1
     time 31.18   tot 167.37
   [ 9]     qtv    move STBD_TURN   dir SOUTH  loc 2316,-919  DistToNext 13.000000
    Speed 0, FLAG 1
     time  0.00   tot 167.37
   [10]     qtv    move FORWARD   dir SOUTH  loc 2316,-932  DistToNext 43.000000
    Speed 2, FLAG 1
     time 11.70   tot 179.07
   [11]     qtv    move FORWARD   dir SOUTH  loc 2316,-975  DistToNext 0.000000
    Speed 2, FLAG 2
     time 38.70   tot 217.77
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir NORTH  loc 2090,-1442  DistToNext 0.000000
    Speed 2, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move STBD_TURN   dir NORTH_EAST  loc 2090,-1442  DistToNext 59.396969
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move FORWARD   dir NORTH_EAST  loc 2132,-1400  DistToNext 0.000000
    Speed 3, FLAG 1
     time 35.64   tot 35.64
   [ 3]     qtv    move STBD_TURN   dir EAST  loc 2132,-1400  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot 35.64
   [ 4]     qtv    move FORWARD   dir EAST  loc 2192,-1400  DistToNext 0.000000
    Speed 3, FLAG 1
     time 36.00   tot 71.64
   [ 5]     qtv    move STBD_TURN   dir SOUTH_EAST  loc 2192,-1400  DistToNext 118.793938
    Speed 0, FLAG 1
     time  0.00   tot 71.64
   [ 6]     qtv    move FORWARD   dir SOUTH_EAST  loc 2276,-1484  DistToNext 0.000000
    Speed 3, FLAG 1
     time 71.28   tot 142.91
   [ 7]     qtv    move STBD_TURN   dir SOUTH  loc 2276,-1484  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot 142.91
   [ 8]     qtv    move FORWARD   dir SOUTH  loc 2276,-1544  DistToNext 0.000000
    Speed 2, FLAG 1
     time 54.00   tot 196.91
   [ 9]     qtv    move STBD_TURN   dir SOUTH_WEST  loc 2276,-1544  DistToNext 60.811184
    Speed 2, FLAG 1
     time  0.00   tot 196.91
   [10]     qtv    move FORWARD   dir SOUTH_WEST  loc 2233,-1587  DistToNext 0.000000
    Speed 1, FLAG 1
     time 109.46   tot 306.37
   [11]     qtv    move STBD_TURN   dir WEST  loc 2233,-1587  DistToNext 0.000000
    Speed 1, FLAG 1
     time  0.00   tot 306.37
   [12]     qtv    move STBD_TURN   dir NORTH_WEST  loc 2233,-1587  DistToNext 60.811184
    Speed 0, FLAG 1
     time  0.00   tot 306.37
   [13]     qtv    move FORWARD   dir NORTH_WEST  loc 2190,-1544  DistToNext 0.000000
    Speed 1, FLAG 1
     time 109.46   tot 415.83
   [14]     qtv    move STBD_TURN   dir NORTH  loc 2190,-1544  DistToNext 40.000000
    Speed 1, FLAG 1
     time  0.00   tot 415.83
   [15]     qtv    move FORWARD   dir NORTH  loc 2190,-1504  DistToNext 21.000000
    Speed 2, FLAG 1
     time 36.00   tot 451.83
   [16]     qtv    move FORWARD   dir NORTH  loc 2190,-1525  DistToNext 0.000000
    Speed 2, FLAG 2
     time 18.90   tot 470.73
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir EAST  loc 78,-138  DistToNext 0.000000
    Speed 5, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move PORT_TURN   dir NORTH_EAST  loc 78,-138  DistToNext 41.012192
    Speed 5, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move FORWARD   dir NORTH_EAST  loc 107,-109  DistToNext 0.000000
    Speed 6, FLAG 1
     time 12.30   tot 12.30
   [ 3]     qtv    move PORT_TURN   dir NORTH  loc 107,-109  DistToNext 40.000000
    Speed 6, FLAG 1
     time  0.00   tot 12.30
   [ 4]     qtv    move FORWARD   dir NORTH  loc 107,-69  DistToNext 0.000000
    Speed 4, FLAG 1
     time 18.00   tot 30.30
   [ 5]     qtv    move PORT_TURN   dir NORTH_WEST  loc 107,-69  DistToNext 0.000000
    Speed 4, FLAG 1
     time  0.00   tot 30.30
   [ 6]     qtv    move PORT_TURN   dir WEST  loc 107,-69  DistToNext 40.000000
    Speed 0, FLAG 1
     time  0.00   tot 30.30
   [ 7]     qtv    move FORWARD   dir WEST  loc 67,-69  DistToNext 0.000000
    Speed 4, FLAG 1
     time 18.00   tot 48.30
   [ 8]     qtv    move PORT_TURN   dir SOUTH_WEST  loc 67,-69  DistToNext 39.597980
    Speed 4, FLAG 1
     time  0.00   tot 48.30
   [ 9]     qtv    move FORWARD   dir SOUTH_WEST  loc 39,-97  DistToNext 0.000000
    Speed 2, FLAG 1
     time 35.64   tot 83.94
   [10]     qtv    move STBD_TURN   dir WEST  loc 39,-97  DistToNext 40.000000
    Speed 0, FLAG 1
     time  0.00   tot 83.94
   [11]     qtv    move FORWARD   dir WEST  loc -1,-97  DistToNext 0.000000
    Speed 0, FLAG 1
     time   inf   tot   inf
   [12]     qtv    move STBD_TURN   dir NORTH_WEST  loc -1,-97  DistToNext 41.012192
    Speed 0, FLAG 1
     time  0.00   tot   inf
   [13]     qtv    move FORWARD   dir NORTH_WEST  loc -30,-68  DistToNext 0.000000
    Speed 2, FLAG 1
     time 36.91   tot   inf
   [14]     qtv    move STBD_TURN   dir NORTH  loc -30,-68  DistToNext 0.000000
    Speed 2, FLAG 1
     time  0.00   tot   inf
   [15]     qtv    move STBD_TURN   dir NORTH_EAST  loc -30,-68  DistToNext 41.012192
    Speed 0, FLAG 1
     time  0.00   tot   inf
   [16]     qtv    move FORWARD   dir NORTH_EAST  loc -1,-39  DistToNext 0.000000
    Speed 6, FLAG 1
     time 12.30   tot   inf
   [17]     qtv    move STBD_TURN   dir EAST  loc -1,-39  DistToNext 40.000000
    Speed 6, FLAG 1
     time  0.00   tot   inf
   [18]     qtv    move FORWARD   dir EAST  loc 39,-39  DistToNext 0.000000
    Speed 5, FLAG 1
     time 14.40   tot   inf
   [19]     qtv    move STBD_TURN   dir SOUTH_EAST  loc 39,-39  DistToNext 41.012192
    Speed 0, FLAG 1
     time  0.00   tot   inf
   [20]     qtv    move FORWARD   dir SOUTH_EAST  loc 68,-68  DistToNext 0.000000
    Speed 6, FLAG 1
     time 12.30   tot   inf
   [21]     qtv    move STBD_TURN   dir SOUTH  loc 68,-68  DistToNext 40.000000
    Speed 6, FLAG 1
     time  0.00   tot   inf
   [22]     qtv    move FORWARD   dir SOUTH  loc 68,-108  DistToNext 0.000000
    Speed 4, FLAG 1
     time 18.00   tot   inf
   [23]     qtv    move STBD_TURN   dir SOUTH_WEST  loc 68,-108  DistToNext 0.000000
    Speed 4, FLAG 1
     time  0.00   tot   inf
   [24]     qtv    move STBD_TURN   dir WEST  loc 68,-108  DistToNext 40.000000
    Speed 0, FLAG 1
     time  0.00   tot   inf
   [25]     qtv    move FORWARD   dir WEST  loc 28,-108  DistToNext 0.000000
    Speed 4, FLAG 1
     time 18.00   tot   inf
   [26]     qtv    move STBD_TURN   dir NORTH_WEST  loc 28,-108  DistToNext 39.597980
    Speed 4, FLAG 1
     time  0.00   tot   inf
   [27]     qtv    move FORWARD   dir NORTH_WEST  loc 0,-80  DistToNext 0.000000
    Speed 2, FLAG 1
     time 35.64   tot   inf
   [28]     qtv    move PORT_TURN   dir WEST  loc 0,-80  DistToNext 40.000000
    Speed 0, FLAG 1
     time  0.00   tot   inf
   [29]     qtv    move FORWARD   dir WEST  loc -40,-80  DistToNext 0.000000
    Speed 0, FLAG 1
     time   inf   tot   inf
   [30]     qtv    move PORT_TURN   dir SOUTH_WEST  loc -40,-80  DistToNext 41.012192
    Speed 0, FLAG 1
     time  0.00   tot   inf
   [31]     qtv    move FORWARD   dir SOUTH_WEST  loc -69,-109  DistToNext 0.000000
    Speed 2, FLAG 1
     time 36.91   tot   inf
   [32]     qtv    move PORT_TURN   dir SOUTH  loc -69,-109  DistToNext 0.000000
    Speed 2, FLAG 1
     time  0.00   tot   inf
   [33]     qtv    move PORT_TURN   dir SOUTH_EAST  loc -69,-109  DistToNext 41.012192
    Speed 0, FLAG 1
     time  0.00   tot   inf
   [34]     qtv    move FORWARD   dir SOUTH_EAST  loc -40,-138  DistToNext 0.000000
    Speed 6, FLAG 1
     time 12.30   tot   inf
   [35]     qtv    move STBD_TURN   dir SOUTH  loc -40,-138  DistToNext 40.000000
    Speed 6, FLAG 1
     time  0.00   tot   inf
   [36]     qtv    move FORWARD   dir SOUTH  loc -40,-178  DistToNext 0.000000
    Speed 4, FLAG 1
     time 18.00   tot   inf
   [37]     qtv    move STBD_TURN   dir SOUTH_WEST  loc -40,-178  DistToNext 41.012192
    Speed 0, FLAG 1
     time  0.00   tot   inf
   [38]     qtv    move FORWARD   dir SOUTH_WEST  loc -69,-207  DistToNext 0.000000
    Speed 2, FLAG 1
     time 36.91   tot   inf
   [39]     qtv    move STBD_TURN   dir WEST  loc -69,-207  DistToNext 40.000000
    Speed 2, FLAG 1
     time  0.00   tot   inf
   [40]     qtv    move FORWARD   dir WEST  loc -109,-207  DistToNext 0.000000
    Speed 2, FLAG 1
     time 36.00   tot   inf
   [41]     qtv    move STBD_TURN   dir NORTH_WEST  loc -109,-207  DistToNext 0.000000
    Speed 2, FLAG 1
     time  0.00   tot   inf
   [42]     qtv    move STBD_TURN   dir NORTH  loc -109,-207  DistToNext 40.000000
    Speed 0, FLAG 1
     time  0.00   tot   inf
   [43]     qtv    move FORWARD   dir NORTH  loc -109,-167  DistToNext 0.000000
    Speed 4, FLAG 1
     time 18.00   tot   inf
   [44]     qtv    move STBD_TURN   dir NORTH_EAST  loc -109,-167  DistToNext 39.597980
    Speed 4, FLAG 1
     time  0.00   tot   inf
   [45]     qtv    move FORWARD   dir NORTH_EAST  loc -81,-139  DistToNext 0.000000
    Speed 6, FLAG 1
     time 11.88   tot   inf
   [46]     qtv    move PORT_TURN   dir NORTH  loc -81,-139  DistToNext 40.000000
    Speed 0, FLAG 1
     time  0.00   tot   inf
   [47]     qtv    move FORWARD   dir NORTH  loc -81,-99  DistToNext 0.000000
    Speed 4, FLAG 1
     time 18.00   tot   inf
   [48]     qtv    move PORT_TURN   dir NORTH_WEST  loc -81,-99  DistToNext 41.012192
    Speed 4, FLAG 1
     time  0.00   tot   inf
   [49]     qtv    move FORWARD   dir NORTH_WEST  loc -110,-70  DistToNext 0.000000
    Speed 2, FLAG 1
     time 36.91   tot   inf
   [50]     qtv    move PORT_TURN   dir WEST  loc -110,-70  DistToNext 0.000000
    Speed 2, FLAG 1
     time  0.00   tot   inf
   [51]     qtv    move PORT_TURN   dir SOUTH_WEST  loc -110,-70  DistToNext 41.012192
    Speed 0, FLAG 1
     time  0.00   tot   inf
   [52]     qtv    move FORWARD   dir SOUTH_WEST  loc -139,-99  DistToNext 0.000000
    Speed 2, FLAG 1
     time 36.91   tot   inf
   [53]     qtv    move STBD_TURN   dir WEST  loc -139,-99  DistToNext -inf
    Speed 2, FLAG 1
     time  0.00   tot   inf
   [54]     qtv    move FORWARD   dir WEST  loc 2147483509,-99  DistToNext 0.000000
    Speed -1, FLAG 1
     time  -inf   tot  -nan
   [55]     qtv    move STBD_TURN   dir NORTH_WEST  loc 2147483509,-99  DistToNext -inf
    Speed 0, FLAG 1
     time  0.00   tot  -nan
  End Path <===
* ==> Start Path
   [ 0]     qtv    move STBD_TURN   dir SOUTH_WEST  loc 723,579  DistToNext 39.597980
    Speed 2, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir SOUTH_WEST  loc 695,551  DistToNext 0.000000
    Speed 2, FLAG 1
     time 35.64   tot 35.64
   [ 2]     qtv    move PORT_TURN   dir SOUTH  loc 695,551  DistToNext 0.000000
    Speed 0, FLAG 1
     time  0.00   tot 35.64
   [ 3]     qtv    move STBD_TURN   dir SOUTH_WEST  loc 695,551  DistToNext 41.012192
    Speed 2, FLAG 1
     time  0.00   tot 35.64
   [ 4]     qtv    move FORWARD   dir SOUTH_WEST  loc 666,522  DistToNext 0.000000
    Speed 2, FLAG 1
     time 36.91   tot 72.55
   [ 5]     qtv    move STBD_TURN   dir WEST  loc 666,522  DistToNext 40.000000
    Speed 2, FLAG 1
     time  0.00   tot 72.55
   [ 6]     qtv    move FORWARD   dir WEST  loc 626,522  DistToNext 0.000000
    Speed 2, FLAG 1
     time 36.00   tot 108.55
   [ 7]     qtv    move STBD_TURN   dir NORTH_WEST  loc 626,522  DistToNext 0.000000
    Speed 2, FLAG 1
     time  0.00   tot 108.55
   [ 8]     qtv    move STBD_TURN   dir NORTH  loc 626,522  DistToNext 40.000000
    Speed 0, FLAG 1
     time  0.00   tot 108.55
   [ 9]     qtv    move FORWARD   dir NORTH  loc 626,562  DistToNext 0.000000
    Speed 5, FLAG 1
     time 14.40   tot 122.95
   [10]     qtv    move PORT_TURN   dir NORTH_WEST  loc 626,562  DistToNext 62.225395
    Speed 5, FLAG 1
     time  0.00   tot 122.95
   [11]     qtv    move FORWARD   dir NORTH_WEST  loc 582,606  DistToNext 7.071068
    Speed 2, FLAG 1
     time 56.00   tot 178.95
   [12]     qtv    move FORWARD   dir NORTH_WEST  loc 587,601  DistToNext 0.000000
    Speed 2, FLAG 2
     time  6.36   tot 185.31
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir NORTH  loc 1725,-760  DistToNext 50.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir NORTH  loc 1775,-760  DistToNext 50.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move STBD_TURN   dir SOUTH_WEST  loc 1926,-714  DistToNext 50.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir SOUTH_WEST  loc 1976,-714  DistToNext 50.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move STBD_TURN   dir NORTH_WEST  loc 1058,160  DistToNext 59.396969
    Speed 2, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir NORTH_WEST  loc 1016,202  DistToNext 0.000000
    Speed 2, FLAG 1
     time 53.46   tot 53.46
   [ 2]     qtv    move STBD_TURN   dir NORTH  loc 1016,202  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot 53.46
   [ 3]     qtv    move FORWARD   dir NORTH  loc 1016,262  DistToNext 0.000000
    Speed 4, FLAG 1
     time 27.00   tot 80.46
   [ 4]     qtv    move STBD_TURN   dir NORTH_EAST  loc 1016,262  DistToNext 59.396969
    Speed 0, FLAG 1
     time  0.00   tot 80.46
   [ 5]     qtv    move FORWARD   dir NORTH_EAST  loc 1058,304  DistToNext 0.000000
    Speed 6, FLAG 1
     time 17.82   tot 98.28
   [ 6]     qtv    move STBD_TURN   dir EAST  loc 1058,304  DistToNext 225.000000
    Speed 0, FLAG 1
     time  0.00   tot 98.28
   [ 7]     qtv    move FORWARD   dir EAST  loc 1283,304  DistToNext 0.000000
    Speed 5, FLAG 1
     time 81.00   tot 179.27
  End Path <===
* ==> Start Path
   [ 0]     qtv    move NO_DIRECTION   dir NORTH_WEST  loc 1127,321  DistToNext 59.396969
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move BACK_SAIL   dir NORTH_WEST  loc 1085,363  DistToNext 0.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move FORWARD   dir NORTH_WEST  loc 1085,363  DistToNext 0.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 3]     qtv    move STBD_TURN   dir NORTH  loc 1085,363  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 4]     qtv    move FORWARD   dir NORTH  loc 1085,423  DistToNext 0.000000
    Speed 2, FLAG 1
     time 54.00   tot 54.00
   [ 5]     qtv    move STBD_TURN   dir NORTH_EAST  loc 1085,423  DistToNext 59.396969
    Speed 0, FLAG 1
     time  0.00   tot 54.00
   [ 6]     qtv    move FORWARD   dir NORTH_EAST  loc 1127,465  DistToNext 0.000000
    Speed 4, FLAG 1
     time 26.73   tot 80.73
   [ 7]     qtv    move STBD_TURN   dir EAST  loc 1127,465  DistToNext 32.000000
    Speed 0, FLAG 1
     time  0.00   tot 80.73
   [ 8]     qtv    move FORWARD   dir EAST  loc 1159,465  DistToNext 5.000000
    Speed 3, FLAG 1
     time 19.20   tot 99.93
   [ 9]     qtv    move FORWARD   dir EAST  loc 1154,465  DistToNext 0.000000
    Speed 3, FLAG 2
     time  3.00   tot 102.93
   [10]     qtv    move NO_DIRECTION   dir EAST  loc 1154,465  DistToNext 0.000000
    Speed 0, FLAG 1
     time  0.00   tot 102.93
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir NORTH_WEST  loc 935,-67  DistToNext 0.000000
    Speed 2, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move STBD_TURN   dir NORTH  loc 935,-67  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move FORWARD   dir NORTH  loc 935,-7  DistToNext 0.000000
    Speed 4, FLAG 1
     time 27.00   tot 27.00
   [ 3]     qtv    move STBD_TURN   dir NORTH_EAST  loc 935,-7  DistToNext 118.793938
    Speed 0, FLAG 1
     time  0.00   tot 27.00
   [ 4]     qtv    move FORWARD   dir NORTH_EAST  loc 1019,77  DistToNext 0.000000
    Speed 6, FLAG 1
     time 35.64   tot 62.64
   [ 5]     qtv    move STBD_TURN   dir EAST  loc 1019,77  DistToNext 120.000000
    Speed 0, FLAG 1
     time  0.00   tot 62.64
   [ 6]     qtv    move FORWARD   dir EAST  loc 1139,77  DistToNext 0.000000
    Speed 5, FLAG 1
     time 43.20   tot 105.84
   [ 7]     qtv    move STBD_TURN   dir SOUTH_EAST  loc 1139,77  DistToNext 118.793938
    Speed 0, FLAG 1
     time  0.00   tot 105.84
   [ 8]     qtv    move FORWARD   dir SOUTH_EAST  loc 1223,-7  DistToNext 0.000000
    Speed 6, FLAG 1
     time 35.64   tot 141.48
   [ 9]     qtv    move STBD_TURN   dir SOUTH  loc 1223,-7  DistToNext 84.000000
    Speed 0, FLAG 1
     time  0.00   tot 141.48
   [10]     qtv    move FORWARD   dir SOUTH  loc 1223,-91  DistToNext 0.000000
    Speed 4, FLAG 1
     time 37.80   tot 179.27
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir SOUTH_EAST  loc 1708,-576  DistToNext 0.000000
    Speed 3, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move STBD_TURN   dir SOUTH  loc 1708,-576  DistToNext 100.000000
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move FORWARD   dir SOUTH  loc 1708,-676  DistToNext 0.000000
    Speed 1, FLAG 1
     time 180.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir SOUTH_WEST  loc 844,65  DistToNext 0.000000
    Speed 2, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move PORT_TURN   dir SOUTH  loc 844,65  DistToNext 0.000000
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move STBD_TURN   dir SOUTH_WEST  loc 844,65  DistToNext 60.811184
    Speed 2, FLAG 1
     time  0.00   tot  0.00
   [ 3]     qtv    move FORWARD   dir SOUTH_WEST  loc 801,22  DistToNext 0.000000
    Speed 2, FLAG 1
     time 54.73   tot 54.73
   [ 4]     qtv    move STBD_TURN   dir WEST  loc 801,22  DistToNext 60.000000
    Speed 2, FLAG 1
     time  0.00   tot 54.73
   [ 5]     qtv    move FORWARD   dir WEST  loc 741,22  DistToNext 0.000000
    Speed 2, FLAG 1
     time 54.00   tot 108.73
   [ 6]     qtv    move STBD_TURN   dir NORTH_WEST  loc 741,22  DistToNext 0.000000
    Speed 2, FLAG 1
     time  0.00   tot 108.73
   [ 7]     qtv    move STBD_TURN   dir NORTH  loc 741,22  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot 108.73
   [ 8]     qtv    move FORWARD   dir NORTH  loc 741,82  DistToNext 0.000000
    Speed 4, FLAG 1
     time 27.00   tot 135.73
   [ 9]     qtv    move PORT_TURN   dir NORTH_WEST  loc 741,82  DistToNext 48.083260
    Speed 4, FLAG 1
     time  0.00   tot 135.73
   [10]     qtv    move FORWARD   dir NORTH_WEST  loc 707,116  DistToNext 38.183765
    Speed 2, FLAG 1
     time 43.27   tot 179.00
   [11]     qtv    move FORWARD   dir NORTH_WEST  loc 734,89  DistToNext 0.000000
    Speed 2, FLAG 2
     time 34.37   tot 213.37
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir NORTH  loc 1783,-811  DistToNext 50.000000
    Speed 6, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir NORTH  loc 1833,-811  DistToNext 50.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move PORT_TURN   dir NORTH_WEST  loc 1835,-1525  DistToNext 50.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir NORTH_WEST  loc 1885,-1525  DistToNext 0.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
   [ 2]     qtv    move STBD_TURN   dir NORTH  loc 1885,-1525  DistToNext 50.000000
    Speed 0, FLAG 1
     time  0.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir NORTH_WEST  loc 1894,-766  DistToNext 199.404114
    Speed 2, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir NORTH_WEST  loc 1753,-625  DistToNext 0.000000
    Speed 2, FLAG 1
     time 179.46   tot 179.46
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir SOUTH_WEST  loc 2455,-865  DistToNext 0.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move PORT_TURN   dir SOUTH  loc 2455,-865  DistToNext 120.000000
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move FORWARD   dir SOUTH  loc 2455,-985  DistToNext 0.000000
    Speed 2, FLAG 1
     time 108.00   tot 108.00
   [ 3]     qtv    move PORT_TURN   dir SOUTH_EAST  loc 2455,-985  DistToNext 118.793938
    Speed 0, FLAG 1
     time  0.00   tot 108.00
   [ 4]     qtv    move FORWARD   dir SOUTH_EAST  loc 2539,-1069  DistToNext 0.000000
    Speed 3, FLAG 1
     time 71.28   tot 179.27
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir NORTH_EAST  loc 1794,-762  DistToNext 0.000000
    Speed 3, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move BACK_SAIL   dir EAST  loc 1794,-762  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move STBD_TURN   dir EAST  loc 1794,-762  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 3]     qtv    move FORWARD   dir EAST  loc 1854,-762  DistToNext 0.000000
    Speed 1, FLAG 1
     time 108.00   tot 108.00
   [ 4]     qtv    move STBD_TURN   dir SOUTH_EAST  loc 1854,-762  DistToNext 59.396969
    Speed 0, FLAG 1
     time  0.00   tot 108.00
   [ 5]     qtv    move FORWARD   dir SOUTH_EAST  loc 1896,-804  DistToNext 0.000000
    Speed 2, FLAG 1
     time 53.46   tot 161.46
   [ 6]     qtv    move STBD_TURN   dir SOUTH  loc 1896,-804  DistToNext 179.000000
    Speed 0, FLAG 1
     time  0.00   tot 161.46
   [ 7]     qtv    move FORWARD   dir SOUTH  loc 1896,-983  DistToNext 0.000000
    Speed 2, FLAG 1
     time 161.10   tot 322.55
   [ 8]     qtv    move NO_DIRECTION   dir SOUTH  loc 1896,-983  DistToNext 100.000000
    Speed 0, FLAG 1
     time  0.00   tot 322.55
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir SOUTH  loc 2316,-932  DistToNext 140.000000
    Speed 2, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir SOUTH  loc 2316,-1072  DistToNext 0.000000
    Speed 2, FLAG 1
     time 126.00   tot 126.00
   [ 2]     qtv    move STBD_TURN   dir SOUTH_WEST  loc 2316,-1072  DistToNext 70.710678
    Speed 0, FLAG 1
     time  0.00   tot 126.00
   [ 3]     qtv    move FORWARD   dir SOUTH_WEST  loc 2266,-1122  DistToNext 0.000000
    Speed 1, FLAG 1
     time 127.28   tot 253.28
   [ 4]     qtv    move STBD_TURN   dir WEST  loc 2266,-1122  DistToNext 70.000000
    Speed 1, FLAG 1
     time  0.00   tot 253.28
   [ 5]     qtv    move FORWARD   dir WEST  loc 2196,-1122  DistToNext 0.000000
    Speed 1, FLAG 1
     time 126.00   tot 379.28
   [ 6]     qtv    move STBD_TURN   dir NORTH_WEST  loc 2196,-1122  DistToNext 0.000000
    Speed 1, FLAG 1
     time  0.00   tot 379.28
   [ 7]     qtv    move STBD_TURN   dir NORTH  loc 2196,-1122  DistToNext 70.000000
    Speed 0, FLAG 1
     time  0.00   tot 379.28
   [ 8]     qtv    move FORWARD   dir NORTH  loc 2196,-1052  DistToNext 0.000000
    Speed 2, FLAG 1
     time 63.00   tot 442.28
   [ 9]     qtv    move STBD_TURN   dir NORTH_EAST  loc 2196,-1052  DistToNext 118.793938
    Speed 2, FLAG 1
     time  0.00   tot 442.28
   [10]     qtv    move FORWARD   dir NORTH_EAST  loc 2280,-968  DistToNext 0.000000
    Speed 4, FLAG 1
     time 53.46   tot 495.73
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir SOUTH  loc 2190,-1504  DistToNext 0.000000
    Speed 2, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move PORT_TURN   dir SOUTH_EAST  loc 2190,-1504  DistToNext 118.793938
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move FORWARD   dir SOUTH_EAST  loc 2274,-1588  DistToNext 0.000000
    Speed 3, FLAG 1
     time 71.28   tot 71.28
   [ 3]     qtv    move STBD_TURN   dir SOUTH  loc 2274,-1588  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot 71.28
   [ 4]     qtv    move FORWARD   dir SOUTH  loc 2274,-1648  DistToNext 0.000000
    Speed 2, FLAG 1
     time 54.00   tot 125.28
   [ 5]     qtv    move STBD_TURN   dir SOUTH_WEST  loc 2274,-1648  DistToNext 60.811184
    Speed 2, FLAG 1
     time  0.00   tot 125.28
   [ 6]     qtv    move FORWARD   dir SOUTH_WEST  loc 2231,-1691  DistToNext 0.000000
    Speed 1, FLAG 1
     time 109.46   tot 234.73
   [ 7]     qtv    move STBD_TURN   dir WEST  loc 2231,-1691  DistToNext 0.000000
    Speed 1, FLAG 1
     time  0.00   tot 234.73
   [ 8]     qtv    move STBD_TURN   dir NORTH_WEST  loc 2231,-1691  DistToNext 60.811184
    Speed 0, FLAG 1
     time  0.00   tot 234.73
   [ 9]     qtv    move FORWARD   dir NORTH_WEST  loc 2188,-1648  DistToNext 0.000000
    Speed 1, FLAG 1
     time 109.46   tot 344.19
   [10]     qtv    move STBD_TURN   dir NORTH  loc 2188,-1648  DistToNext 120.000000
    Speed 1, FLAG 1
     time  0.00   tot 344.19
   [11]     qtv    move FORWARD   dir NORTH  loc 2188,-1528  DistToNext 0.000000
    Speed 2, FLAG 1
     time 108.00   tot 452.19
  End Path <===
* ==> Start Path
   [ 0]     qtv    move STBD_TURN   dir NORTH_EAST  loc -139,-99  DistToNext 39.597980
    Speed 6, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir NORTH_EAST  loc -111,-71  DistToNext 0.000000
    Speed 6, FLAG 1
     time 11.88   tot 11.88
   [ 2]     qtv    move STBD_TURN   dir EAST  loc -111,-71  DistToNext 466.000000
    Speed 0, FLAG 1
     time  0.00   tot 11.88
   [ 3]     qtv    move FORWARD   dir EAST  loc 355,-71  DistToNext 0.000000
    Speed 5, FLAG 1
     time 167.76   tot 179.64
  End Path <===
* ==> Start Path
   [ 0]     qtv    move STBD_TURN   dir NORTH_WEST  loc 582,606  DistToNext 39.597980
    Speed 2, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir NORTH_WEST  loc 554,634  DistToNext 0.000000
    Speed 2, FLAG 1
     time 35.64   tot 35.64
   [ 2]     qtv    move STBD_TURN   dir NORTH  loc 554,634  DistToNext 40.000000
    Speed 0, FLAG 1
     time  0.00   tot 35.64
   [ 3]     qtv    move FORWARD   dir NORTH  loc 554,674  DistToNext 0.000000
    Speed 5, FLAG 1
     time 14.40   tot 50.04
   [ 4]     qtv    move STBD_TURN   dir NORTH_EAST  loc 554,674  DistToNext 39.597980
    Speed 0, FLAG 1
     time  0.00   tot 50.04
   [ 5]     qtv    move FORWARD   dir NORTH_EAST  loc 582,702  DistToNext 0.000000
    Speed 8, FLAG 1
     time  8.91   tot 58.95
   [ 6]     qtv    move STBD_TURN   dir EAST  loc 582,702  DistToNext 402.000000
    Speed 0, FLAG 1
     time  0.00   tot 58.95
   [ 7]     qtv    move FORWARD   dir EAST  loc 984,702  DistToNext 35.000000
    Speed 6, FLAG 1
     time 120.60   tot 179.55
   [ 8]     qtv    move FORWARD   dir EAST  loc 1019,702  DistToNext 0.000000
    Speed 6, FLAG 2
     time 10.50   tot 190.05
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir NORTH  loc 1773,-760  DistToNext 50.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir NORTH  loc 1823,-760  DistToNext 50.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir SOUTH_WEST  loc 1976,-714  DistToNext 50.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir SOUTH_WEST  loc 2026,-714  DistToNext 50.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir EAST  loc 1283,304  DistToNext 0.000000
    Speed 5, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move PORT_TURN   dir NORTH_EAST  loc 1283,304  DistToNext 60.811184
    Speed 5, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move FORWARD   dir NORTH_EAST  loc 1326,347  DistToNext 0.000000
    Speed 6, FLAG 1
     time 18.24   tot 18.24
   [ 3]     qtv    move PORT_TURN   dir NORTH  loc 1326,347  DistToNext 60.000000
    Speed 6, FLAG 1
     time  0.00   tot 18.24
   [ 4]     qtv    move FORWARD   dir NORTH  loc 1326,407  DistToNext 0.000000
    Speed 4, FLAG 1
     time 27.00   tot 45.24
   [ 5]     qtv    move PORT_TURN   dir NORTH_WEST  loc 1326,407  DistToNext 0.000000
    Speed 4, FLAG 1
     time  0.00   tot 45.24
   [ 6]     qtv    move PORT_TURN   dir WEST  loc 1326,407  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot 45.24
   [ 7]     qtv    move FORWARD   dir WEST  loc 1266,407  DistToNext 0.000000
    Speed 4, FLAG 1
     time 27.00   tot 72.24
   [ 8]     qtv    move PORT_TURN   dir SOUTH_WEST  loc 1266,407  DistToNext 118.793938
    Speed 4, FLAG 1
     time  0.00   tot 72.24
   [ 9]     qtv    move FORWARD   dir SOUTH_WEST  loc 1182,323  DistToNext 0.000000
    Speed 2, FLAG 1
     time 106.91   tot 179.16
  End Path <===
* ==> Start Path
   [ 0]     qtv    move NO_DIRECTION   dir NORTH_EAST  loc 1159,465  DistToNext 59.396969
    Speed 4, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir NORTH_EAST  loc 1201,507  DistToNext 0.000000
    Speed 4, FLAG 1
     time 26.73   tot 26.73
   [ 2]     qtv    move PORT_TURN   dir NORTH  loc 1201,507  DistToNext 120.000000
    Speed 0, FLAG 1
     time  0.00   tot 26.73
   [ 3]     qtv    move FORWARD   dir NORTH  loc 1201,627  DistToNext 0.000000
    Speed 2, FLAG 1
     time 108.00   tot 134.73
   [ 4]     qtv    move PORT_TURN   dir NORTH_WEST  loc 1201,627  DistToNext 60.811184
    Speed 0, FLAG 1
     time  0.00   tot 134.73
   [ 5]     qtv    move FORWARD   dir NORTH_WEST  loc 1158,670  DistToNext 0.000000
    Speed 1, FLAG 1
     time 109.46   tot 244.19
   [ 6]     qtv    move PORT_TURN   dir WEST  loc 1158,670  DistToNext 60.000000
    Speed 1, FLAG 1
     time  0.00   tot 244.19
   [ 7]     qtv    move FORWARD   dir WEST  loc 1098,670  DistToNext 0.000000
    Speed 1, FLAG 1
     time 108.00   tot 352.19
   [ 8]     qtv    move PORT_TURN   dir SOUTH_WEST  loc 1098,670  DistToNext 0.000000
    Speed 1, FLAG 1
     time  0.00   tot 352.19
   [ 9]     qtv    move PORT_TURN   dir SOUTH  loc 1098,670  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot 352.19
   [10]     qtv    move FORWARD   dir SOUTH  loc 1098,610  DistToNext 0.000000
    Speed 2, FLAG 1
     time 54.00   tot 406.19
   [11]     qtv    move STBD_TURN   dir SOUTH_WEST  loc 1098,610  DistToNext 24.041630
    Speed 2, FLAG 1
     time  0.00   tot 406.19
   [12]     qtv    move FORWARD   dir SOUTH_WEST  loc 1081,593  DistToNext 9.899495
    Speed 1, FLAG 1
     time 43.27   tot 449.46
   [13]     qtv    move FORWARD   dir SOUTH_WEST  loc 1074,586  DistToNext 0.000000
    Speed 1, FLAG 2
     time 17.82   tot 467.28
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir SOUTH  loc 1223,-91  DistToNext 0.000000
    Speed 4, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move STBD_TURN   dir SOUTH_WEST  loc 1223,-91  DistToNext 60.811184
    Speed 4, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move FORWARD   dir SOUTH_WEST  loc 1180,-134  DistToNext 0.000000
    Speed 2, FLAG 1
     time 54.73   tot 54.73
   [ 3]     qtv    move STBD_TURN   dir WEST  loc 1180,-134  DistToNext 60.000000
    Speed 2, FLAG 1
     time  0.00   tot 54.73
   [ 4]     qtv    move FORWARD   dir WEST  loc 1120,-134  DistToNext 0.000000
    Speed 2, FLAG 1
     time 54.00   tot 108.73
   [ 5]     qtv    move STBD_TURN   dir NORTH_WEST  loc 1120,-134  DistToNext 0.000000
    Speed 2, FLAG 1
     time  0.00   tot 108.73
   [ 6]     qtv    move STBD_TURN   dir NORTH  loc 1120,-134  DistToNext 158.000000
    Speed 0, FLAG 1
     time  0.00   tot 108.73
   [ 7]     qtv    move FORWARD   dir NORTH  loc 1120,24  DistToNext 0.000000
    Speed 4, FLAG 1
     time 71.10   tot 179.83
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir SOUTH  loc 1708,-676  DistToNext 0.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move PORT_TURN   dir SOUTH_EAST  loc 1708,-676  DistToNext 299.813263
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move FORWARD   dir SOUTH_EAST  loc 1920,-888  DistToNext 0.000000
    Speed 3, FLAG 1
     time 179.89   tot 179.89
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir NORTH_WEST  loc 707,116  DistToNext 0.000000
    Speed 2, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move STBD_TURN   dir NORTH  loc 707,116  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move FORWARD   dir NORTH  loc 707,176  DistToNext 0.000000
    Speed 4, FLAG 1
     time 27.00   tot 27.00
   [ 3]     qtv    move STBD_TURN   dir NORTH_EAST  loc 707,176  DistToNext 118.793938
    Speed 0, FLAG 1
     time  0.00   tot 27.00
   [ 4]     qtv    move FORWARD   dir NORTH_EAST  loc 791,260  DistToNext 0.000000
    Speed 6, FLAG 1
     time 35.64   tot 62.64
   [ 5]     qtv    move STBD_TURN   dir EAST  loc 791,260  DistToNext 120.000000
    Speed 0, FLAG 1
     time  0.00   tot 62.64
   [ 6]     qtv    move FORWARD   dir EAST  loc 911,260  DistToNext 0.000000
    Speed 5, FLAG 1
     time 43.20   tot 105.84
   [ 7]     qtv    move STBD_TURN   dir SOUTH_EAST  loc 911,260  DistToNext 118.793938
    Speed 0, FLAG 1
     time  0.00   tot 105.84
   [ 8]     qtv    move FORWARD   dir SOUTH_EAST  loc 995,176  DistToNext 0.000000
    Speed 6, FLAG 1
     time 35.64   tot 141.48
   [ 9]     qtv    move STBD_TURN   dir SOUTH  loc 995,176  DistToNext 84.000000
    Speed 0, FLAG 1
     time  0.00   tot 141.48
   [10]     qtv    move FORWARD   dir SOUTH  loc 995,92  DistToNext 0.000000
    Speed 4, FLAG 1
     time 37.80   tot 179.27
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir NORTH  loc 1832,-811  DistToNext 50.000000
    Speed 6, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir NORTH  loc 1882,-811  DistToNext 50.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move STBD_TURN   dir NORTH  loc 1885,-1525  DistToNext 50.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir NORTH  loc 1935,-1525  DistToNext 50.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir NORTH_WEST  loc 1753,-625  DistToNext 199.404114
    Speed 2, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir NORTH_WEST  loc 1612,-484  DistToNext 0.000000
    Speed 2, FLAG 1
     time 179.46   tot 179.46
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir SOUTH_EAST  loc 2539,-1069  DistToNext 0.000000
    Speed 3, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move PORT_TURN   dir EAST  loc 2539,-1069  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move FORWARD   dir EAST  loc 2599,-1069  DistToNext 0.000000
    Speed 3, FLAG 1
     time 36.00   tot 36.00
   [ 3]     qtv    move PORT_TURN   dir NORTH_EAST  loc 2599,-1069  DistToNext 59.396969
    Speed 0, FLAG 1
     time  0.00   tot 36.00
   [ 4]     qtv    move FORWARD   dir NORTH_EAST  loc 2641,-1027  DistToNext 0.000000
    Speed 3, FLAG 1
     time 35.64   tot 71.64
   [ 5]     qtv    move PORT_TURN   dir NORTH  loc 2641,-1027  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot 71.64
   [ 6]     qtv    move FORWARD   dir NORTH  loc 2641,-967  DistToNext 0.000000
    Speed 2, FLAG 1
     time 54.00   tot 125.64
   [ 7]     qtv    move PORT_TURN   dir NORTH_WEST  loc 2641,-967  DistToNext 29.698484
    Speed 0, FLAG 1
     time  0.00   tot 125.64
   [ 8]     qtv    move FORWARD   dir NORTH_WEST  loc 2620,-946  DistToNext 0.000000
    Speed 1, FLAG 1
     time 53.46   tot 179.09
   [ 9]     qtv    move FORWARD   dir NORTH_WEST  loc 2620,-946  DistToNext 0.000000
    Speed 1, FLAG 2
     time  0.00   tot 179.09
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir EAST  loc 1843,-762  DistToNext 50.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir EAST  loc 1893,-762  DistToNext 50.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir SOUTH_WEST  loc 2280,-968  DistToNext 0.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move PORT_TURN   dir SOUTH  loc 2280,-968  DistToNext 70.000000
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move FORWARD   dir SOUTH  loc 2280,-1038  DistToNext 0.000000
    Speed 2, FLAG 1
     time 63.00   tot 63.00
   [ 3]     qtv    move PORT_TURN   dir SOUTH_EAST  loc 2280,-1038  DistToNext 69.296463
    Speed 0, FLAG 1
     time  0.00   tot 63.00
   [ 4]     qtv    move FORWARD   dir SOUTH_EAST  loc 2329,-1087  DistToNext 0.000000
    Speed 4, FLAG 1
     time 31.18   tot 94.18
   [ 5]     qtv    move PORT_TURN   dir EAST  loc 2329,-1087  DistToNext 70.000000
    Speed 0, FLAG 1
     time  0.00   tot 94.18
   [ 6]     qtv    move FORWARD   dir EAST  loc 2399,-1087  DistToNext 0.000000
    Speed 3, FLAG 1
     time 42.00   tot 136.18
   [ 7]     qtv    move PORT_TURN   dir NORTH_EAST  loc 2399,-1087  DistToNext 69.296463
    Speed 0, FLAG 1
     time  0.00   tot 136.18
   [ 8]     qtv    move FORWARD   dir NORTH_EAST  loc 2448,-1038  DistToNext 0.000000
    Speed 4, FLAG 1
     time 31.18   tot 167.37
   [ 9]     qtv    move PORT_TURN   dir NORTH  loc 2448,-1038  DistToNext 13.000000
    Speed 0, FLAG 1
     time  0.00   tot 167.37
   [10]     qtv    move FORWARD   dir NORTH  loc 2448,-1025  DistToNext 43.000000
    Speed 2, FLAG 1
     time 11.70   tot 179.07
   [11]     qtv    move FORWARD   dir NORTH  loc 2448,-982  DistToNext 0.000000
    Speed 2, FLAG 2
     time 38.70   tot 217.77
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir SOUTH_WEST  loc 2188,-1528  DistToNext 0.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move PORT_TURN   dir SOUTH  loc 2188,-1528  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move FORWARD   dir SOUTH  loc 2188,-1588  DistToNext 0.000000
    Speed 2, FLAG 1
     time 54.00   tot 54.00
   [ 3]     qtv    move PORT_TURN   dir SOUTH_EAST  loc 2188,-1588  DistToNext 59.396969
    Speed 0, FLAG 1
     time  0.00   tot 54.00
   [ 4]     qtv    move FORWARD   dir SOUTH_EAST  loc 2230,-1630  DistToNext 0.000000
    Speed 3, FLAG 1
     time 35.64   tot 89.64
   [ 5]     qtv    move PORT_TURN   dir EAST  loc 2230,-1630  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot 89.64
   [ 6]     qtv    move FORWARD   dir EAST  loc 2290,-1630  DistToNext 0.000000
    Speed 3, FLAG 1
     time 36.00   tot 125.64
   [ 7]     qtv    move PORT_TURN   dir NORTH_EAST  loc 2290,-1630  DistToNext 59.396969
    Speed 0, FLAG 1
     time  0.00   tot 125.64
   [ 8]     qtv    move FORWARD   dir NORTH_EAST  loc 2332,-1588  DistToNext 0.000000
    Speed 3, FLAG 1
     time 35.64   tot 161.28
   [ 9]     qtv    move PORT_TURN   dir NORTH  loc 2332,-1588  DistToNext 20.000000
    Speed 0, FLAG 1
     time  0.00   tot 161.28
   [10]     qtv    move FORWARD   dir NORTH  loc 2332,-1568  DistToNext 19.000000
    Speed 2, FLAG 1
     time 18.00   tot 179.27
   [11]     qtv    move FORWARD   dir NORTH  loc 2332,-1549  DistToNext 0.000000
    Speed 2, FLAG 2
     time 17.10   tot 196.37
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir EAST  loc 355,-71  DistToNext 0.000000
    Speed 5, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move PORT_TURN   dir NORTH_EAST  loc 355,-71  DistToNext 39.597980
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move FORWARD   dir NORTH_EAST  loc 383,-43  DistToNext 0.000000
    Speed 6, FLAG 1
     time 11.88   tot 11.88
   [ 3]     qtv    move PORT_TURN   dir NORTH  loc 383,-43  DistToNext 40.000000
    Speed 0, FLAG 1
     time  0.00   tot 11.88
   [ 4]     qtv    move FORWARD   dir NORTH  loc 383,-3  DistToNext 0.000000
    Speed 4, FLAG 1
     time 18.00   tot 29.88
   [ 5]     qtv    move PORT_TURN   dir NORTH_WEST  loc 383,-3  DistToNext 39.597980
    Speed 0, FLAG 1
     time  0.00   tot 29.88
   [ 6]     qtv    move FORWARD   dir NORTH_WEST  loc 355,25  DistToNext 0.000000
    Speed 2, FLAG 1
     time 35.64   tot 65.52
   [ 7]     qtv    move PORT_TURN   dir WEST  loc 355,25  DistToNext 40.000000
    Speed 0, FLAG 1
     time  0.00   tot 65.52
   [ 8]     qtv    move FORWARD   dir WEST  loc 315,25  DistToNext 0.000000
    Speed 0, FLAG 1
     time   inf   tot   inf
   [ 9]     qtv    move PORT_TURN   dir SOUTH_WEST  loc 315,25  DistToNext 41.012192
    Speed 0, FLAG 1
     time  0.00   tot   inf
   [10]     qtv    move FORWARD   dir SOUTH_WEST  loc 286,-4  DistToNext 0.000000
    Speed 2, FLAG 1
     time 36.91   tot   inf
   [11]     qtv    move PORT_TURN   dir SOUTH  loc 286,-4  DistToNext 0.000000
    Speed 2, FLAG 1
     time  0.00   tot   inf
   [12]     qtv    move PORT_TURN   dir SOUTH_EAST  loc 286,-4  DistToNext 41.012192
    Speed 0, FLAG 1
     time  0.00   tot   inf
   [13]     qtv    move FORWARD   dir SOUTH_EAST  loc 315,-33  DistToNext 0.000000
    Speed 6, FLAG 1
     time 12.30   tot   inf
   [14]     qtv    move STBD_TURN   dir SOUTH  loc 315,-33  DistToNext 40.000000
    Speed 6, FLAG 1
     time  0.00   tot   inf
   [15]     qtv    move FORWARD   dir SOUTH  loc 315,-73  DistToNext 0.000000
    Speed 4, FLAG 1
     time 18.00   tot   inf
   [16]     qtv    move STBD_TURN   dir SOUTH_WEST  loc 315,-73  DistToNext 41.012192
    Speed 0, FLAG 1
     time  0.00   tot   inf
   [17]     qtv    move FORWARD   dir SOUTH_WEST  loc 286,-102  DistToNext 0.000000
    Speed 2, FLAG 1
     time 36.91   tot   inf
   [18]     qtv    move STBD_TURN   dir WEST  loc 286,-102  DistToNext 40.000000
    Speed 2, FLAG 1
     time  0.00   tot   inf
   [19]     qtv    move FORWARD   dir WEST  loc 246,-102  DistToNext 0.000000
    Speed 2, FLAG 1
     time 36.00   tot   inf
   [20]     qtv    move STBD_TURN   dir NORTH_WEST  loc 246,-102  DistToNext 0.000000
    Speed 2, FLAG 1
     time  0.00   tot   inf
   [21]     qtv    move STBD_TURN   dir NORTH  loc 246,-102  DistToNext 40.000000
    Speed 0, FLAG 1
     time  0.00   tot   inf
   [22]     qtv    move FORWARD   dir NORTH  loc 246,-62  DistToNext 0.000000
    Speed 4, FLAG 1
     time 18.00   tot   inf
   [23]     qtv    move STBD_TURN   dir NORTH_EAST  loc 246,-62  DistToNext 39.597980
    Speed 4, FLAG 1
     time  0.00   tot   inf
   [24]     qtv    move FORWARD   dir NORTH_EAST  loc 274,-34  DistToNext 0.000000
    Speed 6, FLAG 1
     time 11.88   tot   inf
   [25]     qtv    move PORT_TURN   dir NORTH  loc 274,-34  DistToNext 40.000000
    Speed 0, FLAG 1
     time  0.00   tot   inf
   [26]     qtv    move FORWARD   dir NORTH  loc 274,6  DistToNext 0.000000
    Speed 4, FLAG 1
     time 18.00   tot   inf
   [27]     qtv    move PORT_TURN   dir NORTH_WEST  loc 274,6  DistToNext 41.012192
    Speed 4, FLAG 1
     time  0.00   tot   inf
   [28]     qtv    move FORWARD   dir NORTH_WEST  loc 245,35  DistToNext 0.000000
    Speed 2, FLAG 1
     time 36.91   tot   inf
   [29]     qtv    move PORT_TURN   dir WEST  loc 245,35  DistToNext 0.000000
    Speed 2, FLAG 1
     time  0.00   tot   inf
   [30]     qtv    move PORT_TURN   dir SOUTH_WEST  loc 245,35  DistToNext 41.012192
    Speed 0, FLAG 1
     time  0.00   tot   inf
   [31]     qtv    move FORWARD   dir SOUTH_WEST  loc 216,6  DistToNext 0.000000
    Speed 2, FLAG 1
     time 36.91   tot   inf
   [32]     qtv    move STBD_TURN   dir WEST  loc 216,6  DistToNext -inf
    Speed 2, FLAG 1
     time  0.00   tot   inf
   [33]     qtv    move FORWARD   dir WEST  loc -2147483432,6  DistToNext 0.000000
    Speed -1, FLAG 1
     time  -inf   tot  -nan
   [34]     qtv    move STBD_TURN   dir NORTH_WEST  loc -2147483432,6  DistToNext -inf
    Speed 0, FLAG 1
     time  0.00   tot  -nan
  End Path <===
* ==> Start Path
   [ 0]     qtv    move STBD_TURN   dir EAST  loc 984,702  DistToNext 40.000000
    Speed 6, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir EAST  loc 1024,702  DistToNext 0.000000
    Speed 6, FLAG 1
     time 12.00   tot 12.00
   [ 2]     qtv    move PORT_TURN   dir NORTH_EAST  loc 1024,702  DistToNext 41.012192
    Speed 6, FLAG 1
     time  0.00   tot 12.00
   [ 3]     qtv    move FORWARD   dir NORTH_EAST  loc 1053,731  DistToNext 0.000000
    Speed 8, FLAG 1
     time  9.23   tot 21.23
   [ 4]     qtv    move PORT_TURN   dir NORTH  loc 1053,731  DistToNext 40.000000
    Speed 8, FLAG 1
     time  0.00   tot 21.23
   [ 5]     qtv    move FORWARD   dir NORTH  loc 1053,771  DistToNext 0.000000
    Speed 5, FLAG 1
     time 14.40   tot 35.63
   [ 6]     qtv    move PORT_TURN   dir NORTH_WEST  loc 1053,771  DistToNext 0.000000
    Speed 5, FLAG 1
     time  0.00   tot 35.63
   [ 7]     qtv    move PORT_TURN   dir WEST  loc 1053,771  DistToNext 40.000000
    Speed 0, FLAG 1
     time  0.00   tot 35.63
   [ 8]     qtv    move FORWARD   dir WEST  loc 1013,771  DistToNext 0.000000
    Speed 5, FLAG 1
     time 14.40   tot 50.03
   [ 9]     qtv    move PORT_TURN   dir SOUTH_WEST  loc 1013,771  DistToNext 142.835571
    Speed 5, FLAG 1
     time  0.00   tot 50.03
   [10]     qtv    move FORWARD   dir SOUTH_WEST  loc 912,670  DistToNext 8.485281
    Speed 2, FLAG 1
     time 128.55   tot 178.58
   [11]     qtv    move FORWARD   dir SOUTH_WEST  loc 918,676  DistToNext 0.000000
    Speed 2, FLAG 2
     time  7.64   tot 186.22
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir NORTH  loc 1821,-760  DistToNext 50.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir NORTH  loc 1871,-760  DistToNext 50.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir SOUTH_WEST  loc 2026,-714  DistToNext 50.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir SOUTH_WEST  loc 2076,-714  DistToNext 0.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
   [ 2]     qtv    move PORT_TURN   dir SOUTH  loc 2076,-714  DistToNext 50.000000
    Speed 0, FLAG 1
     time  0.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir SOUTH_WEST  loc 1182,323  DistToNext 0.000000
    Speed 2, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move PORT_TURN   dir SOUTH  loc 1182,323  DistToNext 0.000000
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move STBD_TURN   dir SOUTH_WEST  loc 1182,323  DistToNext 60.811184
    Speed 2, FLAG 1
     time  0.00   tot  0.00
   [ 3]     qtv    move FORWARD   dir SOUTH_WEST  loc 1139,280  DistToNext 0.000000
    Speed 2, FLAG 1
     time 54.73   tot 54.73
   [ 4]     qtv    move STBD_TURN   dir WEST  loc 1139,280  DistToNext 60.000000
    Speed 2, FLAG 1
     time  0.00   tot 54.73
   [ 5]     qtv    move FORWARD   dir WEST  loc 1079,280  DistToNext 0.000000
    Speed 2, FLAG 1
     time 54.00   tot 108.73
   [ 6]     qtv    move STBD_TURN   dir NORTH_WEST  loc 1079,280  DistToNext 0.000000
    Speed 2, FLAG 1
     time  0.00   tot 108.73
   [ 7]     qtv    move STBD_TURN   dir NORTH  loc 1079,280  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot 108.73
   [ 8]     qtv    move FORWARD   dir NORTH  loc 1079,340  DistToNext 0.000000
    Speed 4, FLAG 1
     time 27.00   tot 135.73
   [ 9]     qtv    move PORT_TURN   dir NORTH_WEST  loc 1079,340  DistToNext 48.083260
    Speed 4, FLAG 1
     time  0.00   tot 135.73
   [10]     qtv    move FORWARD   dir NORTH_WEST  loc 1045,374  DistToNext 38.183765
    Speed 2, FLAG 1
     time 43.27   tot 179.00
   [11]     qtv    move FORWARD   dir NORTH_WEST  loc 1072,347  DistToNext 0.000000
    Speed 2, FLAG 2
     time 34.37   tot 213.37
  End Path <===
* ==> Start Path
   [ 0]     qtv    move NO_DIRECTION   dir NORTH_WEST  loc 1081,593  DistToNext 98.994949
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir NORTH_WEST  loc 1011,663  DistToNext 0.000000
    Speed 1, FLAG 1
     time 178.19   tot 178.19
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir NORTH  loc 1120,24  DistToNext 0.000000
    Speed 4, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move STBD_TURN   dir NORTH_EAST  loc 1120,24  DistToNext 118.793938
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move FORWARD   dir NORTH_EAST  loc 1204,108  DistToNext 0.000000
    Speed 6, FLAG 1
     time 35.64   tot 35.64
   [ 3]     qtv    move PORT_TURN   dir NORTH  loc 1204,108  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot 35.64
   [ 4]     qtv    move FORWARD   dir NORTH  loc 1204,168  DistToNext 0.000000
    Speed 4, FLAG 1
     time 27.00   tot 62.64
   [ 5]     qtv    move PORT_TURN   dir NORTH_WEST  loc 1204,168  DistToNext 60.811184
    Speed 4, FLAG 1
     time  0.00   tot 62.64
   [ 6]     qtv    move FORWARD   dir NORTH_WEST  loc 1161,211  DistToNext 0.000000
    Speed 2, FLAG 1
     time 54.73   tot 117.37
   [ 7]     qtv    move PORT_TURN   dir WEST  loc 1161,211  DistToNext 0.000000
    Speed 2, FLAG 1
     time  0.00   tot 117.37
   [ 8]     qtv    move PORT_TURN   dir SOUTH_WEST  loc 1161,211  DistToNext 60.811184
    Speed 0, FLAG 1
     time  0.00   tot 117.37
   [ 9]     qtv    move FORWARD   dir SOUTH_WEST  loc 1118,168  DistToNext 0.000000
    Speed 2, FLAG 1
     time 54.73   tot 172.10
   [10]     qtv    move STBD_TURN   dir WEST  loc 1118,168  DistToNext 2.194913
    Speed 2, FLAG 1
     time  0.00   tot 172.10
   [11]     qtv    move FORWARD   dir WEST  loc 1120,168  DistToNext 0.000000
    Speed -1, FLAG 1
     time  7.90   tot 180.00
   [12]     qtv    move STBD_TURN   dir NORTH_WEST  loc 1120,168  DistToNext 2.194913
    Speed 0, FLAG 1
     time  0.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir SOUTH_EAST  loc 1792,-723  DistToNext 50.000000
    Speed 3, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir SOUTH_EAST  loc 1842,-723  DistToNext 50.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir SOUTH  loc 995,92  DistToNext 0.000000
    Speed 4, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move STBD_TURN   dir SOUTH_WEST  loc 995,92  DistToNext 60.811184
    Speed 4, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move FORWARD   dir SOUTH_WEST  loc 952,49  DistToNext 0.000000
    Speed 2, FLAG 1
     time 54.73   tot 54.73
   [ 3]     qtv    move STBD_TURN   dir WEST  loc 952,49  DistToNext 60.000000
    Speed 2, FLAG 1
     time  0.00   tot 54.73
   [ 4]     qtv    move FORWARD   dir WEST  loc 892,49  DistToNext 0.000000
    Speed 2, FLAG 1
     time 54.00   tot 108.73
   [ 5]     qtv    move STBD_TURN   dir NORTH_WEST  loc 892,49  DistToNext 0.000000
    Speed 2, FLAG 1
     time  0.00   tot 108.73
   [ 6]     qtv    move STBD_TURN   dir NORTH  loc 892,49  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot 108.73
   [ 7]     qtv    move FORWARD   dir NORTH  loc 892,109  DistToNext 0.000000
    Speed 4, FLAG 1
     time 27.00   tot 135.73
   [ 8]     qtv    move PORT_TURN   dir NORTH_WEST  loc 892,109  DistToNext 48.083260
    Speed 4, FLAG 1
     time  0.00   tot 135.73
   [ 9]     qtv    move FORWARD   dir NORTH_WEST  loc 858,143  DistToNext 38.183765
    Speed 2, FLAG 1
     time 43.27   tot 179.00
   [10]     qtv    move FORWARD   dir NORTH_WEST  loc 885,116  DistToNext 0.000000
    Speed 2, FLAG 2
     time 34.37   tot 213.37
  End Path <===
* ==> Start Path
   [ 0]     qtv    move PORT_TURN   dir NORTH_WEST  loc 1792,-721  DistToNext 39.597980
    Speed 2, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir NORTH_WEST  loc 1764,-693  DistToNext 0.000000
    Speed 2, FLAG 1
     time 35.64   tot 35.64
   [ 2]     qtv    move STBD_TURN   dir NORTH  loc 1764,-693  DistToNext 40.000000
    Speed 0, FLAG 1
     time  0.00   tot 35.64
   [ 3]     qtv    move FORWARD   dir NORTH  loc 1764,-653  DistToNext 0.000000
    Speed 6, FLAG 1
     time 12.00   tot 47.64
   [ 4]     qtv    move STBD_TURN   dir NORTH_EAST  loc 1764,-653  DistToNext 579.827576
    Speed 0, FLAG 1
     time  0.00   tot 47.64
   [ 5]     qtv    move FORWARD   dir NORTH_EAST  loc 2174,-243  DistToNext 12.727922
    Speed 8, FLAG 1
     time 130.46   tot 178.10
   [ 6]     qtv    move FORWARD   dir NORTH_EAST  loc 2165,-252  DistToNext 0.000000
    Speed 8, FLAG 2
     time  2.86   tot 180.96
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir NORTH  loc 1935,-1525  DistToNext 50.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir NORTH  loc 1985,-1525  DistToNext 0.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
   [ 2]     qtv    move STBD_TURN   dir NORTH_EAST  loc 1985,-1525  DistToNext 50.000000
    Speed 0, FLAG 1
     time  0.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir NORTH_WEST  loc 1612,-484  DistToNext 199.404114
    Speed 2, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir NORTH_WEST  loc 1471,-343  DistToNext 0.000000
    Speed 2, FLAG 1
     time 179.46   tot 179.46
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir NORTH_WEST  loc 2620,-946  DistToNext 98.994949
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir NORTH_WEST  loc 2550,-876  DistToNext 0.000000
    Speed 1, FLAG 1
     time 178.19   tot 178.19
  End Path <===
* ==> Start Path
   [ 0]     qtv    move STBD_TURN   dir SOUTH_EAST  loc 1803,-672  DistToNext 59.396969
    Speed 2, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move BACK_SAIL   dir SOUTH_EAST  loc 1845,-714  DistToNext 0.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move FORWARD   dir SOUTH_EAST  loc 1845,-714  DistToNext 0.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 3]     qtv    move PORT_TURN   dir EAST  loc 1845,-714  DistToNext 70.000000
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 4]     qtv    move FORWARD   dir EAST  loc 1915,-714  DistToNext 0.000000
    Speed 1, FLAG 1
     time 126.00   tot 126.00
   [ 5]     qtv    move NO_DIRECTION   dir EAST  loc 1915,-714  DistToNext 0.000000
    Speed 0, FLAG 1
     time  0.00   tot 126.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir NORTH  loc 2448,-1025  DistToNext 0.000000
    Speed 2, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move PORT_TURN   dir NORTH_WEST  loc 2448,-1025  DistToNext 98.994949
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move FORWARD   dir NORTH_WEST  loc 2378,-955  DistToNext 0.000000
    Speed 1, FLAG 1
     time 178.19   tot 178.19
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir NORTH  loc 2332,-1568  DistToNext 0.000000
    Speed 2, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move PORT_TURN   dir NORTH_WEST  loc 2332,-1568  DistToNext 98.994949
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move FORWARD   dir NORTH_WEST  loc 2262,-1498  DistToNext 0.000000
    Speed 1, FLAG 1
     time 178.19   tot 178.19
  End Path <===
* ==> Start Path
   [ 0]     qtv    move STBD_TURN   dir SOUTH_WEST  loc 216,6  DistToNext 39.597980
    Speed 2, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir SOUTH_WEST  loc 188,-22  DistToNext 0.000000
    Speed 2, FLAG 1
     time 35.64   tot 35.64
   [ 2]     qtv    move PORT_TURN   dir SOUTH  loc 188,-22  DistToNext 0.000000
    Speed 0, FLAG 1
     time  0.00   tot 35.64
   [ 3]     qtv    move STBD_TURN   dir SOUTH_WEST  loc 188,-22  DistToNext 41.012192
    Speed 2, FLAG 1
     time  0.00   tot 35.64
   [ 4]     qtv    move FORWARD   dir SOUTH_WEST  loc 159,-51  DistToNext 0.000000
    Speed 2, FLAG 1
     time 36.91   tot 72.55
   [ 5]     qtv    move STBD_TURN   dir WEST  loc 159,-51  DistToNext 40.000000
    Speed 2, FLAG 1
     time  0.00   tot 72.55
   [ 6]     qtv    move FORWARD   dir WEST  loc 119,-51  DistToNext 0.000000
    Speed 2, FLAG 1
     time 36.00   tot 108.55
   [ 7]     qtv    move STBD_TURN   dir NORTH_WEST  loc 119,-51  DistToNext 0.000000
    Speed 2, FLAG 1
     time  0.00   tot 108.55
   [ 8]     qtv    move STBD_TURN   dir NORTH  loc 119,-51  DistToNext 40.000000
    Speed 0, FLAG 1
     time  0.00   tot 108.55
   [ 9]     qtv    move FORWARD   dir NORTH  loc 119,-11  DistToNext 0.000000
    Speed 4, FLAG 1
     time 18.00   tot 126.55
   [10]     qtv    move PORT_TURN   dir NORTH_WEST  loc 119,-11  DistToNext 57.982758
    Speed 4, FLAG 1
     time  0.00   tot 126.55
   [11]     qtv    move FORWARD   dir NORTH_WEST  loc 78,30  DistToNext 1.414214
    Speed 2, FLAG 1
     time 52.18   tot 178.73
   [12]     qtv    move FORWARD   dir NORTH_WEST  loc 77,31  DistToNext 0.000000
    Speed 2, FLAG 2
     time  1.27   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move STBD_TURN   dir SOUTH_WEST  loc 912,670  DistToNext 39.597980
    Speed 2, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir SOUTH_WEST  loc 884,642  DistToNext 0.000000
    Speed 2, FLAG 1
     time 35.64   tot 35.64
   [ 2]     qtv    move PORT_TURN   dir SOUTH  loc 884,642  DistToNext 0.000000
    Speed 0, FLAG 1
     time  0.00   tot 35.64
   [ 3]     qtv    move STBD_TURN   dir SOUTH_WEST  loc 884,642  DistToNext 41.012192
    Speed 2, FLAG 1
     time  0.00   tot 35.64
   [ 4]     qtv    move FORWARD   dir SOUTH_WEST  loc 855,613  DistToNext 0.000000
    Speed 2, FLAG 1
     time 36.91   tot 72.55
   [ 5]     qtv    move STBD_TURN   dir WEST  loc 855,613  DistToNext 40.000000
    Speed 2, FLAG 1
     time  0.00   tot 72.55
   [ 6]     qtv    move FORWARD   dir WEST  loc 815,613  DistToNext 0.000000
    Speed 2, FLAG 1
     time 36.00   tot 108.55
   [ 7]     qtv    move STBD_TURN   dir NORTH_WEST  loc 815,613  DistToNext 0.000000
    Speed 2, FLAG 1
     time  0.00   tot 108.55
   [ 8]     qtv    move STBD_TURN   dir NORTH  loc 815,613  DistToNext 40.000000
    Speed 0, FLAG 1
     time  0.00   tot 108.55
   [ 9]     qtv    move FORWARD   dir NORTH  loc 815,653  DistToNext 0.000000
    Speed 5, FLAG 1
     time 14.40   tot 122.95
   [10]     qtv    move PORT_TURN   dir NORTH_WEST  loc 815,653  DistToNext 62.225395
    Speed 5, FLAG 1
     time  0.00   tot 122.95
   [11]     qtv    move FORWARD   dir NORTH_WEST  loc 771,697  DistToNext 7.071068
    Speed 2, FLAG 1
     time 56.00   tot 178.95
   [12]     qtv    move FORWARD   dir NORTH_WEST  loc 776,692  DistToNext 0.000000
    Speed 2, FLAG 2
     time  6.36   tot 185.31
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir NORTH  loc 1869,-760  DistToNext 50.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir NORTH  loc 1919,-760  DistToNext 0.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
   [ 2]     qtv    move PORT_TURN   dir NORTH_WEST  loc 1919,-760  DistToNext 50.000000
    Speed 0, FLAG 1
     time  0.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move PORT_TURN   dir SOUTH  loc 2076,-714  DistToNext 50.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir SOUTH  loc 2126,-714  DistToNext 0.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
   [ 2]     qtv    move PORT_TURN   dir SOUTH_EAST  loc 2126,-714  DistToNext 50.000000
    Speed 0, FLAG 1
     time  0.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir NORTH_WEST  loc 1045,374  DistToNext 0.000000
    Speed 2, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move STBD_TURN   dir NORTH  loc 1045,374  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move FORWARD   dir NORTH  loc 1045,434  DistToNext 0.000000
    Speed 4, FLAG 1
     time 27.00   tot 27.00
   [ 3]     qtv    move STBD_TURN   dir NORTH_EAST  loc 1045,434  DistToNext 59.396969
    Speed 0, FLAG 1
     time  0.00   tot 27.00
   [ 4]     qtv    move FORWARD   dir NORTH_EAST  loc 1087,476  DistToNext 0.000000
    Speed 6, FLAG 1
     time 17.82   tot 44.82
   [ 5]     qtv    move STBD_TURN   dir EAST  loc 1087,476  DistToNext 120.000000
    Speed 0, FLAG 1
     time  0.00   tot 44.82
   [ 6]     qtv    move FORWARD   dir EAST  loc 1207,476  DistToNext 0.000000
    Speed 5, FLAG 1
     time 43.20   tot 88.02
   [ 7]     qtv    move STBD_TURN   dir SOUTH_EAST  loc 1207,476  DistToNext 118.793938
    Speed 0, FLAG 1
     time  0.00   tot 88.02
   [ 8]     qtv    move FORWARD   dir SOUTH_EAST  loc 1291,392  DistToNext 0.000000
    Speed 6, FLAG 1
     time 35.64   tot 123.66
   [ 9]     qtv    move STBD_TURN   dir SOUTH  loc 1291,392  DistToNext 120.000000
    Speed 0, FLAG 1
     time  0.00   tot 123.66
   [10]     qtv    move FORWARD   dir SOUTH  loc 1291,272  DistToNext 0.000000
    Speed 4, FLAG 1
     time 54.00   tot 177.66
   [11]     qtv    move STBD_TURN   dir SOUTH_WEST  loc 1291,272  DistToNext 1.414214
    Speed 0, FLAG 1
     time  0.00   tot 177.66
   [12]     qtv    move FORWARD   dir SOUTH_WEST  loc 1290,271  DistToNext 56.568542
    Speed 2, FLAG 1
     time  1.27   tot 178.93
   [13]     qtv    move FORWARD   dir SOUTH_WEST  loc 1250,231  DistToNext 0.000000
    Speed 2, FLAG 2
     time 50.91   tot 229.84
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir NORTH_WEST  loc 1011,663  DistToNext 0.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move STBD_TURN   dir NORTH  loc 1011,663  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move FORWARD   dir NORTH  loc 1011,723  DistToNext 0.000000
    Speed 2, FLAG 1
     time 54.00   tot 54.00
   [ 3]     qtv    move STBD_TURN   dir NORTH_EAST  loc 1011,723  DistToNext 59.396969
    Speed 0, FLAG 1
     time  0.00   tot 54.00
   [ 4]     qtv    move FORWARD   dir NORTH_EAST  loc 1053,765  DistToNext 0.000000
    Speed 4, FLAG 1
     time 26.73   tot 80.73
   [ 5]     qtv    move STBD_TURN   dir EAST  loc 1053,765  DistToNext 120.000000
    Speed 0, FLAG 1
     time  0.00   tot 80.73
   [ 6]     qtv    move FORWARD   dir EAST  loc 1173,765  DistToNext 0.000000
    Speed 3, FLAG 1
     time 72.00   tot 152.73
   [ 7]     qtv    move STBD_TURN   dir SOUTH_EAST  loc 1173,765  DistToNext 59.396969
    Speed 0, FLAG 1
     time  0.00   tot 152.73
   [ 8]     qtv    move FORWARD   dir SOUTH_EAST  loc 1215,723  DistToNext 0.000000
    Speed 4, FLAG 1
     time 26.73   tot 179.46
  End Path <===
* ==> Start Path
   [ 0]     qtv    move STBD_TURN   dir NORTH_WEST  loc 1120,168  DistToNext 59.396969
    Speed 2, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir NORTH_WEST  loc 1078,210  DistToNext 0.000000
    Speed 2, FLAG 1
     time 53.46   tot 53.46
   [ 2]     qtv    move STBD_TURN   dir NORTH  loc 1078,210  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot 53.46
   [ 3]     qtv    move FORWARD   dir NORTH  loc 1078,270  DistToNext 0.000000
    Speed 4, FLAG 1
     time 27.00   tot 80.46
   [ 4]     qtv    move STBD_TURN   dir NORTH_EAST  loc 1078,270  DistToNext 59.396969
    Speed 0, FLAG 1
     time  0.00   tot 80.46
   [ 5]     qtv    move FORWARD   dir NORTH_EAST  loc 1120,312  DistToNext 0.000000
    Speed 6, FLAG 1
     time 17.82   tot 98.28
   [ 6]     qtv    move STBD_TURN   dir EAST  loc 1120,312  DistToNext 225.000000
    Speed 0, FLAG 1
     time  0.00   tot 98.28
   [ 7]     qtv    move FORWARD   dir EAST  loc 1345,312  DistToNext 0.000000
    Speed 5, FLAG 1
     time 81.00   tot 179.27
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir SOUTH_EAST  loc 1752,-633  DistToNext 50.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir SOUTH_EAST  loc 1802,-633  DistToNext 0.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
   [ 2]     qtv    move STBD_TURN   dir SOUTH  loc 1802,-633  DistToNext 50.000000
    Speed 0, FLAG 1
     time  0.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir NORTH_WEST  loc 858,143  DistToNext 0.000000
    Speed 2, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move STBD_TURN   dir NORTH  loc 858,143  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move FORWARD   dir NORTH  loc 858,203  DistToNext 0.000000
    Speed 4, FLAG 1
     time 27.00   tot 27.00
   [ 3]     qtv    move STBD_TURN   dir NORTH_EAST  loc 858,203  DistToNext 118.793938
    Speed 0, FLAG 1
     time  0.00   tot 27.00
   [ 4]     qtv    move FORWARD   dir NORTH_EAST  loc 942,287  DistToNext 0.000000
    Speed 6, FLAG 1
     time 35.64   tot 62.64
   [ 5]     qtv    move STBD_TURN   dir EAST  loc 942,287  DistToNext 120.000000
    Speed 0, FLAG 1
     time  0.00   tot 62.64
   [ 6]     qtv    move FORWARD   dir EAST  loc 1062,287  DistToNext 0.000000
    Speed 5, FLAG 1
     time 43.20   tot 105.84
   [ 7]     qtv    move STBD_TURN   dir SOUTH_EAST  loc 1062,287  DistToNext 118.793938
    Speed 0, FLAG 1
     time  0.00   tot 105.84
   [ 8]     qtv    move FORWARD   dir SOUTH_EAST  loc 1146,203  DistToNext 0.000000
    Speed 6, FLAG 1
     time 35.64   tot 141.48
   [ 9]     qtv    move STBD_TURN   dir SOUTH  loc 1146,203  DistToNext 84.000000
    Speed 0, FLAG 1
     time  0.00   tot 141.48
   [10]     qtv    move FORWARD   dir SOUTH  loc 1146,119  DistToNext 0.000000
    Speed 4, FLAG 1
     time 37.80   tot 179.27
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir NORTH  loc 1801,-669  DistToNext 0.000000
    Speed 5, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move PORT_TURN   dir NORTH_WEST  loc 1801,-669  DistToNext 499.217377
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move FORWARD   dir NORTH_WEST  loc 1448,-316  DistToNext 0.000000
    Speed 5, FLAG 1
     time 179.72   tot 179.72
  End Path <===
* ==> Start Path
   [ 0]     qtv    move STBD_TURN   dir NORTH_EAST  loc 1985,-1525  DistToNext 50.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir NORTH_EAST  loc 1985,-1475  DistToNext 0.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
   [ 2]     qtv    move STBD_TURN   dir EAST  loc 1985,-1475  DistToNext 50.000000
    Speed 0, FLAG 1
     time  0.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir NORTH_WEST  loc 1471,-343  DistToNext 398.808228
    Speed 4, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir NORTH_WEST  loc 1189,-61  DistToNext 0.000000
    Speed 4, FLAG 1
     time 179.46   tot 179.46
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir NORTH_WEST  loc 2550,-876  DistToNext 299.813263
    Speed 3, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir NORTH_WEST  loc 2338,-664  DistToNext 0.000000
    Speed 3, FLAG 1
     time 179.89   tot 179.89
  End Path <===
* ==> Start Path
   [ 0]     qtv    move NO_DIRECTION   dir EAST  loc 1915,-714  DistToNext 60.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir EAST  loc 1975,-714  DistToNext 0.000000
    Speed 1, FLAG 1
     time 108.00   tot 108.00
   [ 2]     qtv    move PORT_TURN   dir NORTH_EAST  loc 1975,-714  DistToNext 39.597980
    Speed 0, FLAG 1
     time  0.00   tot 108.00
   [ 3]     qtv    move FORWARD   dir NORTH_EAST  loc 2003,-686  DistToNext 19.798990
    Speed 1, FLAG 1
     time 71.28   tot 179.27
   [ 4]     qtv    move FORWARD   dir NORTH_EAST  loc 1989,-700  DistToNext 0.000000
    Speed 1, FLAG 2
     time 35.64   tot 214.91
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir NORTH_WEST  loc 2378,-955  DistToNext 398.808228
    Speed 4, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir NORTH_WEST  loc 2096,-673  DistToNext 0.000000
    Speed 4, FLAG 1
     time 179.46   tot 179.46
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir NORTH_WEST  loc 2262,-1498  DistToNext 299.813263
    Speed 3, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir NORTH_WEST  loc 2050,-1286  DistToNext 0.000000
    Speed 3, FLAG 1
     time 179.89   tot 179.89
  End Path <===
* ==> Start Path
   [ 0]     qtv    move STBD_TURN   dir NORTH_WEST  loc 78,30  DistToNext 39.597980
    Speed 3, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir NORTH_WEST  loc 50,58  DistToNext 0.000000
    Speed 3, FLAG 1
     time 23.76   tot 23.76
   [ 2]     qtv    move STBD_TURN   dir NORTH  loc 50,58  DistToNext 40.000000
    Speed 0, FLAG 1
     time  0.00   tot 23.76
   [ 3]     qtv    move FORWARD   dir NORTH  loc 50,98  DistToNext 0.000000
    Speed 3, FLAG 1
     time 24.00   tot 47.76
   [ 4]     qtv    move STBD_TURN   dir NORTH_EAST  loc 50,98  DistToNext 39.597980
    Speed 0, FLAG 1
     time  0.00   tot 47.76
   [ 5]     qtv    move FORWARD   dir NORTH_EAST  loc 78,126  DistToNext 0.000000
    Speed 3, FLAG 1
     time 23.76   tot 71.52
   [ 6]     qtv    move STBD_TURN   dir EAST  loc 78,126  DistToNext 120.000000
    Speed 0, FLAG 1
     time  0.00   tot 71.52
   [ 7]     qtv    move FORWARD   dir EAST  loc 198,126  DistToNext 0.000000
    Speed 2, FLAG 1
     time 108.00   tot 179.52
  End Path <===
* ==> Start Path
   [ 0]     qtv    move STBD_TURN   dir NORTH_WEST  loc 771,697  DistToNext 0.000000
    Speed 5, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move PORT_TURN   dir WEST  loc 771,697  DistToNext 40.000000
    Speed 5, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move FORWARD   dir WEST  loc 731,697  DistToNext 0.000000
    Speed 3, FLAG 1
     time 24.00   tot 24.00
   [ 3]     qtv    move PORT_TURN   dir SOUTH_WEST  loc 731,697  DistToNext 41.012192
    Speed 3, FLAG 1
     time  0.00   tot 24.00
   [ 4]     qtv    move FORWARD   dir SOUTH_WEST  loc 702,668  DistToNext 0.000000
    Speed 1, FLAG 1
     time 73.82   tot 97.82
   [ 5]     qtv    move PORT_TURN   dir SOUTH  loc 702,668  DistToNext 0.000000
    Speed 1, FLAG 1
     time  0.00   tot 97.82
   [ 6]     qtv    move PORT_TURN   dir SOUTH_EAST  loc 702,668  DistToNext 45.254833
    Speed 0, FLAG 1
     time  0.00   tot 97.82
   [ 7]     qtv    move FORWARD   dir SOUTH_EAST  loc 734,636  DistToNext 31.112698
    Speed 1, FLAG 1
     time 81.46   tot 179.28
   [ 8]     qtv    move FORWARD   dir SOUTH_EAST  loc 756,614  DistToNext 0.000000
    Speed 1, FLAG 2
     time 56.00   tot 235.28
  End Path <===
* ==> Start Path
   [ 0]     qtv    move PORT_TURN   dir NORTH_WEST  loc 1919,-760  DistToNext 50.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir NORTH_WEST  loc 1919,-710  DistToNext 0.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
   [ 2]     qtv    move STBD_TURN   dir NORTH  loc 1919,-710  DistToNext 50.000000
    Speed 0, FLAG 1
     time  0.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move PORT_TURN   dir SOUTH_EAST  loc 2126,-714  DistToNext 50.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir SOUTH_EAST  loc 2126,-664  DistToNext 50.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir SOUTH_EAST  loc 1299,341  DistToNext 118.793938
    Speed 2, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir SOUTH_EAST  loc 1383,257  DistToNext 0.000000
    Speed 2, FLAG 1
     time 106.91   tot 106.91
   [ 2]     qtv    move PORT_TURN   dir EAST  loc 1383,257  DistToNext 120.000000
    Speed 0, FLAG 1
     time  0.00   tot 106.91
   [ 3]     qtv    move FORWARD   dir EAST  loc 1503,257  DistToNext 0.000000
    Speed 3, FLAG 1
     time 72.00   tot 178.91
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir SOUTH_EAST  loc 1215,723  DistToNext 98.994949
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir SOUTH_EAST  loc 1285,653  DistToNext 0.000000
    Speed 1, FLAG 1
     time 178.19   tot 178.19
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir EAST  loc 1177,402  DistToNext 0.000000
    Speed 3, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move STBD_TURN   dir SOUTH_EAST  loc 1177,402  DistToNext 118.793938
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move FORWARD   dir SOUTH_EAST  loc 1261,318  DistToNext 0.000000
    Speed 2, FLAG 1
     time 106.91   tot 106.91
   [ 3]     qtv    move STBD_TURN   dir SOUTH  loc 1261,318  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot 106.91
   [ 4]     qtv    move FORWARD   dir SOUTH  loc 1261,258  DistToNext 0.000000
    Speed 0, FLAG 1
     time   inf   tot   inf
   [ 5]     qtv    move STBD_TURN   dir SOUTH_WEST  loc 1261,258  DistToNext 60.811184
    Speed 0, FLAG 1
     time  0.00   tot   inf
   [ 6]     qtv    move FORWARD   dir SOUTH_WEST  loc 1218,215  DistToNext 0.000000
    Speed 2, FLAG 1
     time 54.73   tot   inf
   [ 7]     qtv    move STBD_TURN   dir WEST  loc 1218,215  DistToNext 0.000000
    Speed 2, FLAG 1
     time  0.00   tot   inf
   [ 8]     qtv    move STBD_TURN   dir NORTH_WEST  loc 1218,215  DistToNext 60.811184
    Speed 0, FLAG 1
     time  0.00   tot   inf
   [ 9]     qtv    move FORWARD   dir NORTH_WEST  loc 1175,258  DistToNext 0.000000
    Speed 5, FLAG 1
     time 21.89   tot   inf
   [10]     qtv    move STBD_TURN   dir NORTH  loc 1175,258  DistToNext 120.000000
    Speed 5, FLAG 1
     time  0.00   tot   inf
   [11]     qtv    move FORWARD   dir NORTH  loc 1175,378  DistToNext 0.000000
    Speed 4, FLAG 1
     time 54.00   tot   inf
   [12]     qtv    move STBD_TURN   dir NORTH_EAST  loc 1175,378  DistToNext 60.811184
    Speed 0, FLAG 1
     time  0.00   tot   inf
   [13]     qtv    move FORWARD   dir NORTH_EAST  loc 1218,421  DistToNext 0.000000
    Speed 5, FLAG 1
     time 21.89   tot   inf
   [14]     qtv    move STBD_TURN   dir EAST  loc 1218,421  DistToNext 60.000000
    Speed 5, FLAG 1
     time  0.00   tot   inf
   [15]     qtv    move FORWARD   dir EAST  loc 1278,421  DistToNext 0.000000
    Speed 3, FLAG 1
     time 36.00   tot   inf
   [16]     qtv    move STBD_TURN   dir SOUTH_EAST  loc 1278,421  DistToNext 0.000000
    Speed 3, FLAG 1
     time  0.00   tot   inf
   [17]     qtv    move STBD_TURN   dir SOUTH  loc 1278,421  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot   inf
   [18]     qtv    move FORWARD   dir SOUTH  loc 1278,361  DistToNext 0.000000
    Speed 3, FLAG 1
     time 36.00   tot   inf
   [19]     qtv    move STBD_TURN   dir SOUTH_WEST  loc 1278,361  DistToNext 19.798990
    Speed 3, FLAG 1
     time  0.00   tot   inf
   [20]     qtv    move FORWARD   dir SOUTH_WEST  loc 1264,347  DistToNext 19.798990
    Speed 2, FLAG 1
     time 17.82   tot   inf
   [21]     qtv    move FORWARD   dir SOUTH_WEST  loc 1250,333  DistToNext 0.000000
    Speed 2, FLAG 2
     time 17.82   tot   inf
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir SOUTH_EAST  loc 1715,-543  DistToNext 50.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir SOUTH_EAST  loc 1715,-493  DistToNext 0.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
   [ 2]     qtv    move PORT_TURN   dir EAST  loc 1715,-493  DistToNext 50.000000
    Speed 0, FLAG 1
     time  0.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir SOUTH  loc 1146,119  DistToNext 50.000000
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir SOUTH  loc 1146,169  DistToNext 0.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
   [ 2]     qtv    move PORT_TURN   dir SOUTH_EAST  loc 1146,169  DistToNext 50.000000
    Speed 0, FLAG 1
     time  0.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir NORTH_WEST  loc 1448,-316  DistToNext 499.217377
    Speed 5, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir NORTH_WEST  loc 1095,37  DistToNext 0.000000
    Speed 5, FLAG 1
     time 179.72   tot 179.72
  End Path <===
* ==> Start Path
   [ 0]     qtv    move STBD_TURN   dir EAST  loc 1985,-1475  DistToNext 50.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir EAST  loc 1985,-1425  DistToNext 0.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
   [ 2]     qtv    move PORT_TURN   dir NORTH_EAST  loc 1985,-1425  DistToNext 50.000000
    Speed 0, FLAG 1
     time  0.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir NORTH_WEST  loc 1189,-61  DistToNext 0.000000
    Speed 4, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move STBD_TURN   dir NORTH  loc 1189,-61  DistToNext 300.000000
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move FORWARD   dir NORTH  loc 1189,239  DistToNext 0.000000
    Speed 3, FLAG 1
     time 180.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir NORTH_WEST  loc 2338,-664  DistToNext 0.000000
    Speed 3, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move STBD_TURN   dir NORTH  loc 2338,-664  DistToNext 120.000000
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move FORWARD   dir NORTH  loc 2338,-544  DistToNext 0.000000
    Speed 2, FLAG 1
     time 108.00   tot 108.00
   [ 3]     qtv    move STBD_TURN   dir NORTH_EAST  loc 2338,-544  DistToNext 60.811184
    Speed 0, FLAG 1
     time  0.00   tot 108.00
   [ 4]     qtv    move FORWARD   dir NORTH_EAST  loc 2381,-501  DistToNext 0.000000
    Speed 3, FLAG 1
     time 36.49   tot 144.49
   [ 5]     qtv    move STBD_TURN   dir EAST  loc 2381,-501  DistToNext 60.000000
    Speed 3, FLAG 1
     time  0.00   tot 144.49
   [ 6]     qtv    move FORWARD   dir EAST  loc 2441,-501  DistToNext 0.000000
    Speed 1, FLAG 1
     time 108.00   tot 252.48
   [ 7]     qtv    move STBD_TURN   dir SOUTH_EAST  loc 2441,-501  DistToNext 0.000000
    Speed 1, FLAG 1
     time  0.00   tot 252.48
   [ 8]     qtv    move STBD_TURN   dir SOUTH  loc 2441,-501  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot 252.48
   [ 9]     qtv    move FORWARD   dir SOUTH  loc 2441,-561  DistToNext 0.000000
    Speed 1, FLAG 1
     time 108.00   tot 360.48
   [10]     qtv    move STBD_TURN   dir SOUTH_WEST  loc 2441,-561  DistToNext 39.597980
    Speed 1, FLAG 1
     time  0.00   tot 360.48
   [11]     qtv    move FORWARD   dir SOUTH_WEST  loc 2413,-589  DistToNext 19.798990
    Speed 1, FLAG 1
     time 71.28   tot 431.76
   [12]     qtv    move FORWARD   dir SOUTH_WEST  loc 2427,-575  DistToNext 0.000000
    Speed 1, FLAG 2
     time 35.64   tot 467.40
  End Path <===
* ==> Start Path
   [ 0]     qtv    move NO_DIRECTION   dir NORTH_EAST  loc 2003,-686  DistToNext 59.396969
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir NORTH_EAST  loc 2045,-644  DistToNext 0.000000
    Speed 1, FLAG 1
     time 106.91   tot 106.91
   [ 2]     qtv    move PORT_TURN   dir NORTH  loc 2045,-644  DistToNext 40.000000
    Speed 0, FLAG 1
     time  0.00   tot 106.91
   [ 3]     qtv    move FORWARD   dir NORTH  loc 2045,-604  DistToNext 21.000000
    Speed 1, FLAG 1
     time 72.00   tot 178.91
   [ 4]     qtv    move FORWARD   dir NORTH  loc 2045,-625  DistToNext 0.000000
    Speed 1, FLAG 2
     time 37.80   tot 216.71
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir NORTH_WEST  loc 2096,-673  DistToNext 138.592926
    Speed 4, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir NORTH_WEST  loc 1998,-575  DistToNext 0.000000
    Speed 4, FLAG 1
     time 62.37   tot 62.37
   [ 2]     qtv    move PORT_TURN   dir WEST  loc 1998,-575  DistToNext 70.000000
    Speed 0, FLAG 1
     time  0.00   tot 62.37
   [ 3]     qtv    move FORWARD   dir WEST  loc 1928,-575  DistToNext 0.000000
    Speed 2, FLAG 1
     time 63.00   tot 125.37
   [ 4]     qtv    move PORT_TURN   dir SOUTH_WEST  loc 1928,-575  DistToNext 70.710678
    Speed 2, FLAG 1
     time  0.00   tot 125.37
   [ 5]     qtv    move FORWARD   dir SOUTH_WEST  loc 1878,-625  DistToNext 0.000000
    Speed 1, FLAG 1
     time 127.28   tot 252.64
   [ 6]     qtv    move PORT_TURN   dir SOUTH  loc 1878,-625  DistToNext 0.000000
    Speed 1, FLAG 1
     time  0.00   tot 252.64
   [ 7]     qtv    move PORT_TURN   dir SOUTH_EAST  loc 1878,-625  DistToNext 70.710678
    Speed 0, FLAG 1
     time  0.00   tot 252.64
   [ 8]     qtv    move FORWARD   dir SOUTH_EAST  loc 1928,-675  DistToNext 0.000000
    Speed 1, FLAG 1
     time 127.28   tot 379.92
   [ 9]     qtv    move STBD_TURN   dir SOUTH  loc 1928,-675  DistToNext -55.534786
    Speed 1, FLAG 1
     time  0.00   tot 379.92
   [10]     qtv    move FORWARD   dir SOUTH  loc 1928,-730  DistToNext -55.534786
    Speed -1, FLAG 1
     time -199.93   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir NORTH_WEST  loc 2050,-1286  DistToNext 0.000000
    Speed 3, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move STBD_TURN   dir NORTH  loc 2050,-1286  DistToNext 200.000000
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move FORWARD   dir NORTH  loc 2050,-1086  DistToNext 0.000000
    Speed 2, FLAG 1
     time 180.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir EAST  loc 198,126  DistToNext 200.000000
    Speed 2, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir EAST  loc 398,126  DistToNext 0.000000
    Speed 2, FLAG 1
     time 180.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move STBD_TURN   dir SOUTH_EAST  loc 734,636  DistToNext 98.994949
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir SOUTH_EAST  loc 804,566  DistToNext 0.000000
    Speed 1, FLAG 1
     time 178.19   tot 178.19
   [ 2]     qtv    move FORWARD   dir SOUTH_EAST  loc 804,566  DistToNext 0.000000
    Speed 1, FLAG 2
     time  0.00   tot 178.19
  End Path <===
* ==> Start Path
   [ 0]     qtv    move STBD_TURN   dir NORTH  loc 1919,-710  DistToNext 50.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir NORTH  loc 1919,-660  DistToNext 0.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
   [ 2]     qtv    move STBD_TURN   dir NORTH_EAST  loc 1919,-660  DistToNext 50.000000
    Speed 0, FLAG 1
     time  0.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir SOUTH_EAST  loc 2126,-664  DistToNext 50.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir SOUTH_EAST  loc 2126,-614  DistToNext 50.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir EAST  loc 1503,257  DistToNext 0.000000
    Speed 3, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move STBD_TURN   dir SOUTH_EAST  loc 1503,257  DistToNext 60.811184
    Speed 3, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move FORWARD   dir SOUTH_EAST  loc 1546,214  DistToNext 0.000000
    Speed 2, FLAG 1
     time 54.73   tot 54.73
   [ 3]     qtv    move STBD_TURN   dir SOUTH  loc 1546,214  DistToNext 60.000000
    Speed 2, FLAG 1
     time  0.00   tot 54.73
   [ 4]     qtv    move FORWARD   dir SOUTH  loc 1546,154  DistToNext 0.000000
    Speed 2, FLAG 1
     time 54.00   tot 108.73
   [ 5]     qtv    move STBD_TURN   dir SOUTH_WEST  loc 1546,154  DistToNext 0.000000
    Speed 2, FLAG 1
     time  0.00   tot 108.73
   [ 6]     qtv    move STBD_TURN   dir WEST  loc 1546,154  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot 108.73
   [ 7]     qtv    move FORWARD   dir WEST  loc 1486,154  DistToNext 0.000000
    Speed 3, FLAG 1
     time 36.00   tot 144.73
   [ 8]     qtv    move PORT_TURN   dir SOUTH_WEST  loc 1486,154  DistToNext 38.183765
    Speed 3, FLAG 1
     time  0.00   tot 144.73
   [ 9]     qtv    move FORWARD   dir SOUTH_WEST  loc 1459,127  DistToNext 18.384777
    Speed 2, FLAG 1
     time 34.37   tot 179.09
   [10]     qtv    move FORWARD   dir SOUTH_WEST  loc 1472,140  DistToNext 0.000000
    Speed 2, FLAG 2
     time 16.55   tot 195.64
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir SOUTH_EAST  loc 1285,653  DistToNext 0.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move PORT_TURN   dir EAST  loc 1285,653  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move FORWARD   dir EAST  loc 1345,653  DistToNext 0.000000
    Speed 1, FLAG 1
     time 108.00   tot 108.00
   [ 3]     qtv    move PORT_TURN   dir NORTH_EAST  loc 1345,653  DistToNext 59.396969
    Speed 0, FLAG 1
     time  0.00   tot 108.00
   [ 4]     qtv    move FORWARD   dir NORTH_EAST  loc 1387,695  DistToNext 0.000000
    Speed 3, FLAG 1
     time 35.64   tot 143.64
   [ 5]     qtv    move PORT_TURN   dir NORTH  loc 1387,695  DistToNext 40.000000
    Speed 0, FLAG 1
     time  0.00   tot 143.64
   [ 6]     qtv    move FORWARD   dir NORTH  loc 1387,735  DistToNext 21.000000
    Speed 2, FLAG 1
     time 36.00   tot 179.64
   [ 7]     qtv    move FORWARD   dir NORTH  loc 1387,714  DistToNext 0.000000
    Speed 2, FLAG 2
     time 18.90   tot 198.54
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir SOUTH_WEST  loc 1264,347  DistToNext 0.000000
    Speed 2, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move STBD_TURN   dir WEST  loc 1264,347  DistToNext 0.000000
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move PORT_TURN   dir SOUTH_WEST  loc 1264,347  DistToNext 60.811184
    Speed 2, FLAG 1
     time  0.00   tot  0.00
   [ 3]     qtv    move FORWARD   dir SOUTH_WEST  loc 1221,304  DistToNext 0.000000
    Speed 2, FLAG 1
     time 54.73   tot 54.73
   [ 4]     qtv    move PORT_TURN   dir SOUTH  loc 1221,304  DistToNext 60.000000
    Speed 2, FLAG 1
     time  0.00   tot 54.73
   [ 5]     qtv    move FORWARD   dir SOUTH  loc 1221,244  DistToNext 0.000000
    Speed 2, FLAG 1
     time 54.00   tot 108.73
   [ 6]     qtv    move PORT_TURN   dir SOUTH_EAST  loc 1221,244  DistToNext 0.000000
    Speed 2, FLAG 1
     time  0.00   tot 108.73
   [ 7]     qtv    move PORT_TURN   dir EAST  loc 1221,244  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot 108.73
   [ 8]     qtv    move FORWARD   dir EAST  loc 1281,244  DistToNext 0.000000
    Speed 3, FLAG 1
     time 36.00   tot 144.73
   [ 9]     qtv    move PORT_TURN   dir NORTH_EAST  loc 1281,244  DistToNext 97.580734
    Speed 3, FLAG 1
     time  0.00   tot 144.73
   [10]     qtv    move FORWARD   dir NORTH_EAST  loc 1350,313  DistToNext 0.000000
    Speed 5, FLAG 1
     time 35.13   tot 179.86
  End Path <===
* ==> Start Path
   [ 0]     qtv    move PORT_TURN   dir EAST  loc 1715,-493  DistToNext 50.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir EAST  loc 1715,-443  DistToNext 0.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
   [ 2]     qtv    move STBD_TURN   dir SOUTH_EAST  loc 1715,-443  DistToNext 50.000000
    Speed 0, FLAG 1
     time  0.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move PORT_TURN   dir SOUTH_EAST  loc 1146,169  DistToNext 59.396969
    Speed 2, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move BACK_SAIL   dir SOUTH_EAST  loc 1188,127  DistToNext 0.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move FORWARD   dir SOUTH_EAST  loc 1188,127  DistToNext 0.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 3]     qtv    move PORT_TURN   dir EAST  loc 1188,127  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 4]     qtv    move FORWARD   dir EAST  loc 1248,127  DistToNext 0.000000
    Speed 2, FLAG 1
     time 54.00   tot 54.00
   [ 5]     qtv    move PORT_TURN   dir NORTH_EAST  loc 1248,127  DistToNext 59.396969
    Speed 0, FLAG 1
     time  0.00   tot 54.00
   [ 6]     qtv    move FORWARD   dir NORTH_EAST  loc 1290,169  DistToNext 0.000000
    Speed 4, FLAG 1
     time 26.73   tot 80.73
   [ 7]     qtv    move PORT_TURN   dir NORTH  loc 1290,169  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot 80.73
   [ 8]     qtv    move FORWARD   dir NORTH  loc 1290,229  DistToNext 0.000000
    Speed 3, FLAG 1
     time 36.00   tot 116.73
   [ 9]     qtv    move PORT_TURN   dir NORTH_WEST  loc 1290,229  DistToNext 59.396969
    Speed 0, FLAG 1
     time  0.00   tot 116.73
   [10]     qtv    move FORWARD   dir NORTH_WEST  loc 1248,271  DistToNext 0.000000
    Speed 4, FLAG 1
     time 26.73   tot 143.46
   [11]     qtv    move PORT_TURN   dir WEST  loc 1248,271  DistToNext 33.000000
    Speed 0, FLAG 1
     time  0.00   tot 143.46
   [12]     qtv    move FORWARD   dir WEST  loc 1215,271  DistToNext 7.000000
    Speed 2, FLAG 1
     time 29.70   tot 173.16
   [13]     qtv    move FORWARD   dir WEST  loc 1222,271  DistToNext 0.000000
    Speed 2, FLAG 2
     time  6.30   tot 179.46
   [14]     qtv    move NO_DIRECTION   dir WEST  loc 1222,271  DistToNext 0.000000
    Speed 0, FLAG 1
     time  0.00   tot 179.46
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir NORTH_WEST  loc 1095,37  DistToNext 0.000000
    Speed 5, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move STBD_TURN   dir NORTH  loc 1095,37  DistToNext 500.000000
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move FORWARD   dir NORTH  loc 1095,537  DistToNext 0.000000
    Speed 5, FLAG 1
     time 180.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move PORT_TURN   dir NORTH_EAST  loc 1985,-1425  DistToNext 50.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir NORTH_EAST  loc 1985,-1375  DistToNext 0.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
   [ 2]     qtv    move PORT_TURN   dir NORTH  loc 1985,-1375  DistToNext 50.000000
    Speed 0, FLAG 1
     time  0.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir NORTH  loc 1189,110  DistToNext 0.000000
    Speed 3, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move BACK_SAIL   dir NORTH_WEST  loc 1189,110  DistToNext 398.808228
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move PORT_TURN   dir NORTH_WEST  loc 1189,110  DistToNext 131.521866
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 3]     qtv    move FORWARD   dir NORTH_WEST  loc 1096,203  DistToNext 0.000000
    Speed 4, FLAG 1
     time 59.18   tot 59.18
   [ 4]     qtv    move NO_DIRECTION   dir NORTH_WEST  loc 1096,203  DistToNext 398.808228
    Speed 0, FLAG 1
     time  0.00   tot 59.18
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir EAST  loc 2413,-589  DistToNext 0.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move PORT_TURN   dir NORTH_EAST  loc 2413,-589  DistToNext 59.396969
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move FORWARD   dir NORTH_EAST  loc 2455,-547  DistToNext 0.000000
    Speed 3, FLAG 1
     time 35.64   tot 35.64
   [ 3]     qtv    move PORT_TURN   dir NORTH  loc 2455,-547  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot 35.64
   [ 4]     qtv    move FORWARD   dir NORTH  loc 2455,-487  DistToNext 0.000000
    Speed 2, FLAG 1
     time 54.00   tot 89.64
   [ 5]     qtv    move PORT_TURN   dir NORTH_WEST  loc 2455,-487  DistToNext 118.793938
    Speed 0, FLAG 1
     time  0.00   tot 89.64
   [ 6]     qtv    move FORWARD   dir NORTH_WEST  loc 2371,-403  DistToNext 0.000000
    Speed 3, FLAG 1
     time 71.28   tot 160.91
   [ 7]     qtv    move PORT_TURN   dir WEST  loc 2371,-403  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot 160.91
   [ 8]     qtv    move FORWARD   dir WEST  loc 2311,-403  DistToNext 0.000000
    Speed 1, FLAG 1
     time 108.00   tot 268.91
   [ 9]     qtv    move PORT_TURN   dir SOUTH_WEST  loc 2311,-403  DistToNext 60.811184
    Speed 1, FLAG 1
     time  0.00   tot 268.91
   [10]     qtv    move FORWARD   dir SOUTH_WEST  loc 2268,-446  DistToNext 0.000000
    Speed 1, FLAG 1
     time 109.46   tot 378.37
   [11]     qtv    move PORT_TURN   dir SOUTH  loc 2268,-446  DistToNext 0.000000
    Speed 1, FLAG 1
     time  0.00   tot 378.37
   [12]     qtv    move PORT_TURN   dir SOUTH_EAST  loc 2268,-446  DistToNext 60.811184
    Speed 0, FLAG 1
     time  0.00   tot 378.37
   [13]     qtv    move FORWARD   dir SOUTH_EAST  loc 2311,-489  DistToNext 0.000000
    Speed 1, FLAG 1
     time 109.46   tot 487.83
   [14]     qtv    move STBD_TURN   dir SOUTH  loc 2311,-489  DistToNext -85.509674
    Speed 1, FLAG 1
     time  0.00   tot 487.83
   [15]     qtv    move FORWARD   dir SOUTH  loc 2311,-574  DistToNext -85.509674
    Speed -1, FLAG 1
     time -307.83   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move NO_DIRECTION   dir NORTH  loc 2045,-604  DistToNext 60.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir NORTH  loc 2045,-544  DistToNext 0.000000
    Speed 1, FLAG 1
     time 108.00   tot 108.00
   [ 2]     qtv    move PORT_TURN   dir NORTH_WEST  loc 2045,-544  DistToNext 39.597980
    Speed 0, FLAG 1
     time  0.00   tot 108.00
   [ 3]     qtv    move FORWARD   dir NORTH_WEST  loc 2017,-516  DistToNext 19.798990
    Speed 1, FLAG 1
     time 71.28   tot 179.27
   [ 4]     qtv    move FORWARD   dir NORTH_WEST  loc 2031,-530  DistToNext 0.000000
    Speed 1, FLAG 2
     time 35.64   tot 214.91
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir SOUTH_WEST  loc 1928,-730  DistToNext 98.994949
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir SOUTH_WEST  loc 1858,-800  DistToNext 0.000000
    Speed 1, FLAG 1
     time 178.19   tot 178.19
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir NORTH  loc 2050,-1086  DistToNext 0.000000
    Speed 2, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move BACK_SAIL   dir NORTH_WEST  loc 2050,-1086  DistToNext 299.813263
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move PORT_TURN   dir NORTH_WEST  loc 2050,-1086  DistToNext 148.492432
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 3]     qtv    move FORWARD   dir NORTH_WEST  loc 1945,-981  DistToNext 0.000000
    Speed 3, FLAG 1
     time 89.09   tot 89.09
   [ 4]     qtv    move NO_DIRECTION   dir NORTH_WEST  loc 1945,-981  DistToNext 299.813263
    Speed 0, FLAG 1
     time  0.00   tot 89.09
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir EAST  loc 398,126  DistToNext 200.000000
    Speed 2, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir EAST  loc 598,126  DistToNext 0.000000
    Speed 2, FLAG 1
     time 180.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move STBD_TURN   dir SOUTH_EAST  loc 804,566  DistToNext 98.994949
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir SOUTH_EAST  loc 874,496  DistToNext 0.000000
    Speed 1, FLAG 1
     time 178.19   tot 178.19
   [ 2]     qtv    move FORWARD   dir SOUTH_EAST  loc 874,496  DistToNext 0.000000
    Speed 1, FLAG 2
     time  0.00   tot 178.19
  End Path <===
* ==> Start Path
   [ 0]     qtv    move STBD_TURN   dir NORTH_EAST  loc 1919,-660  DistToNext 50.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir NORTH_EAST  loc 1919,-610  DistToNext 0.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
   [ 2]     qtv    move STBD_TURN   dir EAST  loc 1919,-610  DistToNext 50.000000
    Speed 0, FLAG 1
     time  0.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir SOUTH_EAST  loc 2126,-614  DistToNext 50.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir SOUTH_EAST  loc 2126,-564  DistToNext 0.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
   [ 2]     qtv    move PORT_TURN   dir EAST  loc 2126,-564  DistToNext 50.000000
    Speed 0, FLAG 1
     time  0.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir SOUTH_WEST  loc 1459,127  DistToNext 0.000000
    Speed 2, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move STBD_TURN   dir WEST  loc 1459,127  DistToNext 300.000000
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move FORWARD   dir WEST  loc 1159,127  DistToNext 0.000000
    Speed 3, FLAG 1
     time 180.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir NORTH  loc 1387,735  DistToNext 0.000000
    Speed 2, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move PORT_TURN   dir NORTH_WEST  loc 1387,735  DistToNext 59.396969
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move FORWARD   dir NORTH_WEST  loc 1345,777  DistToNext 0.000000
    Speed 3, FLAG 1
     time 35.64   tot 35.64
   [ 3]     qtv    move PORT_TURN   dir WEST  loc 1345,777  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot 35.64
   [ 4]     qtv    move FORWARD   dir WEST  loc 1285,777  DistToNext 0.000000
    Speed 1, FLAG 1
     time 108.00   tot 143.64
   [ 5]     qtv    move PORT_TURN   dir SOUTH_WEST  loc 1285,777  DistToNext 19.798990
    Speed 0, FLAG 1
     time  0.00   tot 143.64
   [ 6]     qtv    move FORWARD   dir SOUTH_WEST  loc 1271,763  DistToNext 19.798990
    Speed 1, FLAG 1
     time 35.64   tot 179.27
   [ 7]     qtv    move FORWARD   dir SOUTH_WEST  loc 1257,749  DistToNext 0.000000
    Speed 1, FLAG 2
     time 35.64   tot 214.91
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir NORTH_EAST  loc 1350,313  DistToNext 0.000000
    Speed 5, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move STBD_TURN   dir EAST  loc 1350,313  DistToNext 60.000000
    Speed 5, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move FORWARD   dir EAST  loc 1410,313  DistToNext 0.000000
    Speed 3, FLAG 1
     time 36.00   tot 36.00
   [ 3]     qtv    move STBD_TURN   dir SOUTH_EAST  loc 1410,313  DistToNext 60.811184
    Speed 3, FLAG 1
     time  0.00   tot 36.00
   [ 4]     qtv    move FORWARD   dir SOUTH_EAST  loc 1453,270  DistToNext 0.000000
    Speed 2, FLAG 1
     time 54.73   tot 90.73
   [ 5]     qtv    move STBD_TURN   dir SOUTH  loc 1453,270  DistToNext 0.000000
    Speed 2, FLAG 1
     time  0.00   tot 90.73
   [ 6]     qtv    move STBD_TURN   dir SOUTH_WEST  loc 1453,270  DistToNext 98.994949
    Speed 0, FLAG 1
     time  0.00   tot 90.73
   [ 7]     qtv    move FORWARD   dir SOUTH_WEST  loc 1383,200  DistToNext 16.970562
    Speed 2, FLAG 1
     time 89.09   tot 179.82
   [ 8]     qtv    move FORWARD   dir SOUTH_WEST  loc 1395,212  DistToNext 0.000000
    Speed 2, FLAG 2
     time 15.27   tot 195.10
  End Path <===
* ==> Start Path
   [ 0]     qtv    move STBD_TURN   dir SOUTH_EAST  loc 1715,-443  DistToNext 50.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir SOUTH_EAST  loc 1715,-393  DistToNext 0.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
   [ 2]     qtv    move PORT_TURN   dir EAST  loc 1715,-393  DistToNext 50.000000
    Speed 0, FLAG 1
     time  0.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir SOUTH_EAST  loc 1092,246  DistToNext 98.994949
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move BACK_SAIL   dir SOUTH_EAST  loc 1162,176  DistToNext 0.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move FORWARD   dir SOUTH_EAST  loc 1162,176  DistToNext 0.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 3]     qtv    move NO_DIRECTION   dir SOUTH_EAST  loc 1162,176  DistToNext 0.000000
    Speed 0, FLAG 1
     time  0.00   tot  0.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir NORTH  loc 1095,199  DistToNext 0.000000
    Speed 5, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move PORT_TURN   dir NORTH_WEST  loc 1095,199  DistToNext 39.597980
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move FORWARD   dir NORTH_WEST  loc 1067,227  DistToNext 0.000000
    Speed 5, FLAG 1
     time 14.26   tot 14.26
   [ 3]     qtv    move PORT_TURN   dir WEST  loc 1067,227  DistToNext 40.000000
    Speed 0, FLAG 1
     time  0.00   tot 14.26
   [ 4]     qtv    move FORWARD   dir WEST  loc 1027,227  DistToNext 0.000000
    Speed 4, FLAG 1
     time 18.00   tot 32.26
   [ 5]     qtv    move PORT_TURN   dir SOUTH_WEST  loc 1027,227  DistToNext 41.012192
    Speed 4, FLAG 1
     time  0.00   tot 32.26
   [ 6]     qtv    move FORWARD   dir SOUTH_WEST  loc 998,198  DistToNext 0.000000
    Speed 1, FLAG 1
     time 73.82   tot 106.08
   [ 7]     qtv    move PORT_TURN   dir SOUTH  loc 998,198  DistToNext 0.000000
    Speed 1, FLAG 1
     time  0.00   tot 106.08
   [ 8]     qtv    move PORT_TURN   dir SOUTH_EAST  loc 998,198  DistToNext 41.012192
    Speed 0, FLAG 1
     time  0.00   tot 106.08
   [ 9]     qtv    move FORWARD   dir SOUTH_EAST  loc 1027,169  DistToNext 0.000000
    Speed 1, FLAG 1
     time 73.82   tot 179.90
   [10]     qtv    move STBD_TURN   dir SOUTH  loc 1027,169  DistToNext 0.028008
    Speed 1, FLAG 1
     time  0.00   tot 179.90
   [11]     qtv    move FORWARD   dir SOUTH  loc 1027,169  DistToNext 0.000000
    Speed -1, FLAG 1
     time  0.10   tot 180.00
   [12]     qtv    move STBD_TURN   dir SOUTH_WEST  loc 1027,169  DistToNext 0.028008
    Speed 0, FLAG 1
     time  0.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move PORT_TURN   dir NORTH  loc 1985,-1375  DistToNext 50.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir NORTH  loc 1985,-1325  DistToNext 0.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
   [ 2]     qtv    move PORT_TURN   dir NORTH_WEST  loc 1985,-1325  DistToNext 50.000000
    Speed 0, FLAG 1
     time  0.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir NORTH_WEST  loc 1027,308  DistToNext 118.793938
    Speed 3, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir NORTH_WEST  loc 943,392  DistToNext 0.000000
    Speed 3, FLAG 1
     time 71.28   tot 71.28
   [ 2]     qtv    move PORT_TURN   dir WEST  loc 943,392  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot 71.28
   [ 3]     qtv    move FORWARD   dir WEST  loc 883,392  DistToNext 0.000000
    Speed 2, FLAG 1
     time 54.00   tot 125.28
   [ 4]     qtv    move PORT_TURN   dir SOUTH_WEST  loc 883,392  DistToNext 60.811184
    Speed 2, FLAG 1
     time  0.00   tot 125.28
   [ 5]     qtv    move FORWARD   dir SOUTH_WEST  loc 840,349  DistToNext 0.000000
    Speed 1, FLAG 1
     time 109.46   tot 234.73
   [ 6]     qtv    move PORT_TURN   dir SOUTH  loc 840,349  DistToNext 0.000000
    Speed 1, FLAG 1
     time  0.00   tot 234.73
   [ 7]     qtv    move PORT_TURN   dir SOUTH_EAST  loc 840,349  DistToNext 60.811184
    Speed 0, FLAG 1
     time  0.00   tot 234.73
   [ 8]     qtv    move FORWARD   dir SOUTH_EAST  loc 883,306  DistToNext 0.000000
    Speed 1, FLAG 1
     time 109.46   tot 344.19
   [ 9]     qtv    move STBD_TURN   dir SOUTH  loc 883,306  DistToNext -45.610176
    Speed 1, FLAG 1
     time  0.00   tot 344.19
   [10]     qtv    move FORWARD   dir SOUTH  loc 883,261  DistToNext 0.000000
    Speed -1, FLAG 1
     time -164.20   tot 180.00
   [11]     qtv    move PORT_TURN   dir SOUTH_EAST  loc 883,261  DistToNext -45.610176
    Speed 0, FLAG 1
     time  0.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir WEST  loc 2311,-574  DistToNext 0.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move STBD_TURN   dir NORTH_WEST  loc 2311,-574  DistToNext 299.813263
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move FORWARD   dir NORTH_WEST  loc 2099,-362  DistToNext 0.000000
    Speed 3, FLAG 1
     time 179.89   tot 179.89
  End Path <===
* ==> Start Path
   [ 0]     qtv    move NO_DIRECTION   dir NORTH_WEST  loc 2017,-516  DistToNext 98.994949
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir NORTH_WEST  loc 1947,-446  DistToNext 0.000000
    Speed 1, FLAG 1
     time 178.19   tot 178.19
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir SOUTH_WEST  loc 1858,-800  DistToNext 0.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move STBD_TURN   dir WEST  loc 1858,-800  DistToNext 70.000000
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move FORWARD   dir WEST  loc 1788,-800  DistToNext 0.000000
    Speed 2, FLAG 1
     time 63.00   tot 63.00
   [ 3]     qtv    move STBD_TURN   dir NORTH_WEST  loc 1788,-800  DistToNext 258.801086
    Speed 0, FLAG 1
     time  0.00   tot 63.00
   [ 4]     qtv    move FORWARD   dir NORTH_WEST  loc 1605,-617  DistToNext 0.000000
    Speed 4, FLAG 1
     time 116.46   tot 179.46
  End Path <===
* ==> Start Path
   [ 0]     qtv    move NO_DIRECTION   dir NORTH_WEST  loc 1945,-981  DistToNext 299.813263
    Speed 3, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir NORTH_WEST  loc 1733,-769  DistToNext 0.000000
    Speed 3, FLAG 1
     time 179.89   tot 179.89
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir EAST  loc 598,126  DistToNext 0.000000
    Speed 2, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move PORT_TURN   dir NORTH_EAST  loc 598,126  DistToNext 299.813263
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move FORWARD   dir NORTH_EAST  loc 810,338  DistToNext 0.000000
    Speed 3, FLAG 1
     time 179.89   tot 179.89
  End Path <===
* ==> Start Path
   [ 0]     qtv    move STBD_TURN   dir SOUTH_EAST  loc 874,496  DistToNext 98.994949
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir SOUTH_EAST  loc 944,426  DistToNext 0.000000
    Speed 1, FLAG 1
     time 178.19   tot 178.19
  End Path <===
* ==> Start Path
   [ 0]     qtv    move STBD_TURN   dir EAST  loc 1919,-610  DistToNext 50.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir EAST  loc 1919,-560  DistToNext 0.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
   [ 2]     qtv    move PORT_TURN   dir NORTH_EAST  loc 1919,-560  DistToNext 50.000000
    Speed 0, FLAG 1
     time  0.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move PORT_TURN   dir EAST  loc 2126,-564  DistToNext 50.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir EAST  loc 2126,-514  DistToNext 0.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
   [ 2]     qtv    move PORT_TURN   dir NORTH_EAST  loc 2126,-514  DistToNext 50.000000
    Speed 0, FLAG 1
     time  0.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir WEST  loc 1159,127  DistToNext 0.000000
    Speed 3, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move STBD_TURN   dir NORTH_WEST  loc 1159,127  DistToNext 59.396969
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move FORWARD   dir NORTH_WEST  loc 1117,169  DistToNext 0.000000
    Speed 5, FLAG 1
     time 21.38   tot 21.38
   [ 3]     qtv    move STBD_TURN   dir NORTH  loc 1117,169  DistToNext 240.000000
    Speed 0, FLAG 1
     time  0.00   tot 21.38
   [ 4]     qtv    move FORWARD   dir NORTH  loc 1117,409  DistToNext 0.000000
    Speed 4, FLAG 1
     time 108.00   tot 129.38
   [ 5]     qtv    move STBD_TURN   dir NORTH_EAST  loc 1117,409  DistToNext 60.811184
    Speed 0, FLAG 1
     time  0.00   tot 129.38
   [ 6]     qtv    move FORWARD   dir NORTH_EAST  loc 1160,452  DistToNext 0.000000
    Speed 5, FLAG 1
     time 21.89   tot 151.27
   [ 7]     qtv    move STBD_TURN   dir EAST  loc 1160,452  DistToNext 60.000000
    Speed 5, FLAG 1
     time  0.00   tot 151.27
   [ 8]     qtv    move FORWARD   dir EAST  loc 1220,452  DistToNext 0.000000
    Speed 3, FLAG 1
     time 36.00   tot 187.27
   [ 9]     qtv    move STBD_TURN   dir SOUTH_EAST  loc 1220,452  DistToNext 0.000000
    Speed 3, FLAG 1
     time  0.00   tot 187.27
   [10]     qtv    move STBD_TURN   dir SOUTH  loc 1220,452  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot 187.27
   [11]     qtv    move FORWARD   dir SOUTH  loc 1220,392  DistToNext 0.000000
    Speed 3, FLAG 1
     time 36.00   tot 223.27
   [12]     qtv    move STBD_TURN   dir SOUTH_WEST  loc 1220,392  DistToNext 55.154327
    Speed 3, FLAG 1
     time  0.00   tot 223.27
   [13]     qtv    move FORWARD   dir SOUTH_WEST  loc 1181,353  DistToNext 52.325901
    Speed 2, FLAG 1
     time 49.64   tot 272.91
   [14]     qtv    move FORWARD   dir SOUTH_WEST  loc 1218,390  DistToNext 0.000000
    Speed 2, FLAG 2
     time 47.09   tot 320.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir SOUTH_WEST  loc 1271,763  DistToNext 98.994949
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir SOUTH_WEST  loc 1201,693  DistToNext 0.000000
    Speed 1, FLAG 1
     time 178.19   tot 178.19
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir SOUTH_WEST  loc 1383,200  DistToNext 0.000000
    Speed 2, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move STBD_TURN   dir WEST  loc 1383,200  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move FORWARD   dir WEST  loc 1323,200  DistToNext 0.000000
    Speed 3, FLAG 1
     time 36.00   tot 36.00
   [ 3]     qtv    move STBD_TURN   dir NORTH_WEST  loc 1323,200  DistToNext 59.396969
    Speed 0, FLAG 1
     time  0.00   tot 36.00
   [ 4]     qtv    move FORWARD   dir NORTH_WEST  loc 1281,242  DistToNext 0.000000
    Speed 5, FLAG 1
     time 21.38   tot 57.38
   [ 5]     qtv    move STBD_TURN   dir NORTH  loc 1281,242  DistToNext 240.000000
    Speed 0, FLAG 1
     time  0.00   tot 57.38
   [ 6]     qtv    move FORWARD   dir NORTH  loc 1281,482  DistToNext 0.000000
    Speed 4, FLAG 1
     time 108.00   tot 165.38
   [ 7]     qtv    move STBD_TURN   dir NORTH_EAST  loc 1281,482  DistToNext 39.597980
    Speed 0, FLAG 1
     time  0.00   tot 165.38
   [ 8]     qtv    move FORWARD   dir NORTH_EAST  loc 1309,510  DistToNext 19.798990
    Speed 5, FLAG 1
     time 14.26   tot 179.64
   [ 9]     qtv    move FORWARD   dir NORTH_EAST  loc 1295,496  DistToNext 0.000000
    Speed 5, FLAG 2
     time  7.13   tot 186.76
  End Path <===
* ==> Start Path
   [ 0]     qtv    move PORT_TURN   dir EAST  loc 1715,-393  DistToNext 50.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir EAST  loc 1715,-343  DistToNext 0.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
   [ 2]     qtv    move PORT_TURN   dir NORTH_EAST  loc 1715,-343  DistToNext 50.000000
    Speed 0, FLAG 1
     time  0.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir SOUTH_EAST  loc 1138,305  DistToNext 0.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move BACK_SAIL   dir EAST  loc 1138,305  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move PORT_TURN   dir EAST  loc 1138,305  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 3]     qtv    move FORWARD   dir EAST  loc 1198,305  DistToNext 0.000000
    Speed 1, FLAG 1
     time 108.00   tot 108.00
   [ 4]     qtv    move PORT_TURN   dir NORTH_EAST  loc 1198,305  DistToNext 59.396969
    Speed 0, FLAG 1
     time  0.00   tot 108.00
   [ 5]     qtv    move FORWARD   dir NORTH_EAST  loc 1240,347  DistToNext 0.000000
    Speed 2, FLAG 1
     time 53.46   tot 161.46
   [ 6]     qtv    move PORT_TURN   dir NORTH  loc 1240,347  DistToNext 59.000000
    Speed 0, FLAG 1
     time  0.00   tot 161.46
   [ 7]     qtv    move FORWARD   dir NORTH  loc 1240,406  DistToNext 59.000000
    Speed 2, FLAG 1
     time 53.10   tot 214.56
   [ 8]     qtv    move FORWARD   dir NORTH  loc 1240,347  DistToNext 0.000000
    Speed 2, FLAG 2
     time 53.10   tot 267.66
   [ 9]     qtv    move NO_DIRECTION   dir NORTH  loc 1240,347  DistToNext 40.000000
    Speed 0, FLAG 1
     time  0.00   tot 267.66
  End Path <===
* ==> Start Path
   [ 0]     qtv    move STBD_TURN   dir SOUTH_WEST  loc 1027,169  DistToNext 39.597980
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir SOUTH_WEST  loc 999,141  DistToNext 0.000000
    Speed 1, FLAG 1
     time 71.28   tot 71.28
   [ 2]     qtv    move STBD_TURN   dir WEST  loc 999,141  DistToNext 40.000000
    Speed 0, FLAG 1
     time  0.00   tot 71.28
   [ 3]     qtv    move FORWARD   dir WEST  loc 959,141  DistToNext 0.000000
    Speed 4, FLAG 1
     time 18.00   tot 89.28
   [ 4]     qtv    move STBD_TURN   dir NORTH_WEST  loc 959,141  DistToNext 39.597980
    Speed 0, FLAG 1
     time  0.00   tot 89.28
   [ 5]     qtv    move FORWARD   dir NORTH_WEST  loc 931,169  DistToNext 0.000000
    Speed 5, FLAG 1
     time 14.26   tot 103.53
   [ 6]     qtv    move STBD_TURN   dir NORTH  loc 931,169  DistToNext 40.000000
    Speed 0, FLAG 1
     time  0.00   tot 103.53
   [ 7]     qtv    move FORWARD   dir NORTH  loc 931,209  DistToNext 0.000000
    Speed 5, FLAG 1
     time 14.40   tot 117.93
   [ 8]     qtv    move STBD_TURN   dir NORTH_EAST  loc 931,209  DistToNext 39.597980
    Speed 0, FLAG 1
     time  0.00   tot 117.93
   [ 9]     qtv    move FORWARD   dir NORTH_EAST  loc 959,237  DistToNext 0.000000
    Speed 5, FLAG 1
     time 14.26   tot 132.19
   [10]     qtv    move PORT_TURN   dir NORTH  loc 959,237  DistToNext 40.000000
    Speed 0, FLAG 1
     time  0.00   tot 132.19
   [11]     qtv    move FORWARD   dir NORTH  loc 959,277  DistToNext 0.000000
    Speed 5, FLAG 1
     time 14.40   tot 146.59
   [12]     qtv    move PORT_TURN   dir NORTH_WEST  loc 959,277  DistToNext 39.597980
    Speed 0, FLAG 1
     time  0.00   tot 146.59
   [13]     qtv    move FORWARD   dir NORTH_WEST  loc 931,305  DistToNext 0.000000
    Speed 5, FLAG 1
     time 14.26   tot 160.84
   [14]     qtv    move PORT_TURN   dir WEST  loc 931,305  DistToNext 40.000000
    Speed 0, FLAG 1
     time  0.00   tot 160.84
   [15]     qtv    move FORWARD   dir WEST  loc 891,305  DistToNext 0.000000
    Speed 4, FLAG 1
     time 18.00   tot 178.84
   [16]     qtv    move PORT_TURN   dir SOUTH_WEST  loc 891,305  DistToNext 0.000000
    Speed 0, FLAG 1
     time  0.00   tot 178.84
   [17]     qtv    move FORWARD   dir SOUTH_WEST  loc 891,305  DistToNext 38.183765
    Speed 1, FLAG 1
     time  0.00   tot 178.84
   [18]     qtv    move FORWARD   dir SOUTH_WEST  loc 864,278  DistToNext 0.000000
    Speed 1, FLAG 2
     time 68.73   tot 247.57
  End Path <===
* ==> Start Path
   [ 0]     qtv    move PORT_TURN   dir NORTH_WEST  loc 1985,-1325  DistToNext 50.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir NORTH_WEST  loc 1985,-1275  DistToNext 0.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
   [ 2]     qtv    move PORT_TURN   dir WEST  loc 1985,-1275  DistToNext 50.000000
    Speed 0, FLAG 1
     time  0.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move PORT_TURN   dir SOUTH_WEST  loc 883,261  DistToNext 59.396969
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir SOUTH_WEST  loc 841,219  DistToNext 0.000000
    Speed 1, FLAG 1
     time 106.91   tot 106.91
   [ 2]     qtv    move STBD_TURN   dir WEST  loc 841,219  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot 106.91
   [ 3]     qtv    move FORWARD   dir WEST  loc 781,219  DistToNext 0.000000
    Speed 2, FLAG 1
     time 54.00   tot 160.91
   [ 4]     qtv    move STBD_TURN   dir NORTH_WEST  loc 781,219  DistToNext 29.698484
    Speed 0, FLAG 1
     time  0.00   tot 160.91
   [ 5]     qtv    move FORWARD   dir NORTH_WEST  loc 760,240  DistToNext 0.000000
    Speed 3, FLAG 1
     time 17.82   tot 178.73
   [ 6]     qtv    move FORWARD   dir NORTH_WEST  loc 760,240  DistToNext 0.000000
    Speed 3, FLAG 2
     time  0.00   tot 178.73
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir NORTH_WEST  loc 2099,-362  DistToNext 299.813263
    Speed 3, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir NORTH_WEST  loc 1887,-150  DistToNext 0.000000
    Speed 3, FLAG 1
     time 179.89   tot 179.89
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir NORTH_WEST  loc 1947,-446  DistToNext 98.994949
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir NORTH_WEST  loc 1877,-376  DistToNext 0.000000
    Speed 1, FLAG 1
     time 178.19   tot 178.19
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir NORTH_WEST  loc 1605,-617  DistToNext 398.808228
    Speed 4, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir NORTH_WEST  loc 1323,-335  DistToNext 0.000000
    Speed 4, FLAG 1
     time 179.46   tot 179.46
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir NORTH_WEST  loc 1733,-769  DistToNext 299.813263
    Speed 3, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir NORTH_WEST  loc 1521,-557  DistToNext 0.000000
    Speed 3, FLAG 1
     time 179.89   tot 179.89
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir NORTH_EAST  loc 810,338  DistToNext 0.000000
    Speed 3, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move STBD_TURN   dir EAST  loc 810,338  DistToNext 40.000000
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move FORWARD   dir EAST  loc 850,338  DistToNext 0.000000
    Speed 2, FLAG 1
     time 36.00   tot 36.00
   [ 3]     qtv    move STBD_TURN   dir SOUTH_EAST  loc 850,338  DistToNext 79.195961
    Speed 0, FLAG 1
     time  0.00   tot 36.00
   [ 4]     qtv    move FORWARD   dir SOUTH_EAST  loc 906,282  DistToNext 0.000000
    Speed 1, FLAG 1
     time 142.55   tot 178.55
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir SOUTH_EAST  loc 944,426  DistToNext 0.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move PORT_TURN   dir EAST  loc 944,426  DistToNext 0.000000
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move STBD_TURN   dir SOUTH_EAST  loc 944,426  DistToNext 41.012192
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 3]     qtv    move FORWARD   dir SOUTH_EAST  loc 973,397  DistToNext 0.000000
    Speed 1, FLAG 1
     time 73.82   tot 73.82
   [ 4]     qtv    move STBD_TURN   dir SOUTH  loc 973,397  DistToNext 40.000000
    Speed 1, FLAG 1
     time  0.00   tot 73.82
   [ 5]     qtv    move FORWARD   dir SOUTH  loc 973,357  DistToNext 0.000000
    Speed 1, FLAG 1
     time 72.00   tot 145.82
   [ 6]     qtv    move STBD_TURN   dir SOUTH_WEST  loc 973,357  DistToNext 0.000000
    Speed 1, FLAG 1
     time  0.00   tot 145.82
   [ 7]     qtv    move STBD_TURN   dir WEST  loc 973,357  DistToNext 40.000000
    Speed 0, FLAG 1
     time  0.00   tot 145.82
   [ 8]     qtv    move FORWARD   dir WEST  loc 933,357  DistToNext 0.000000
    Speed 3, FLAG 1
     time 24.00   tot 169.82
   [ 9]     qtv    move PORT_TURN   dir SOUTH_WEST  loc 933,357  DistToNext 4.242640
    Speed 3, FLAG 1
     time  0.00   tot 169.82
   [10]     qtv    move FORWARD   dir SOUTH_WEST  loc 930,354  DistToNext 29.698484
    Speed 1, FLAG 1
     time  7.64   tot 177.46
   [11]     qtv    move FORWARD   dir SOUTH_WEST  loc 909,333  DistToNext 0.000000
    Speed 1, FLAG 2
     time 53.46   tot 230.91
  End Path <===
* ==> Start Path
   [ 0]     qtv    move PORT_TURN   dir NORTH_EAST  loc 1919,-560  DistToNext 50.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir NORTH_EAST  loc 1919,-510  DistToNext 0.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
   [ 2]     qtv    move PORT_TURN   dir NORTH  loc 1919,-510  DistToNext 50.000000
    Speed 0, FLAG 1
     time  0.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move PORT_TURN   dir NORTH_EAST  loc 2126,-514  DistToNext 50.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir NORTH_EAST  loc 2126,-464  DistToNext 50.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir EAST  loc 1181,353  DistToNext 0.000000
    Speed 3, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move PORT_TURN   dir NORTH_EAST  loc 1181,353  DistToNext 118.793938
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move FORWARD   dir NORTH_EAST  loc 1265,437  DistToNext 0.000000
    Speed 5, FLAG 1
     time 42.77   tot 42.77
   [ 3]     qtv    move STBD_TURN   dir EAST  loc 1265,437  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot 42.77
   [ 4]     qtv    move FORWARD   dir EAST  loc 1325,437  DistToNext 0.000000
    Speed 3, FLAG 1
     time 36.00   tot 78.77
   [ 5]     qtv    move STBD_TURN   dir SOUTH_EAST  loc 1325,437  DistToNext 60.811184
    Speed 3, FLAG 1
     time  0.00   tot 78.77
   [ 6]     qtv    move FORWARD   dir SOUTH_EAST  loc 1368,394  DistToNext 0.000000
    Speed 2, FLAG 1
     time 54.73   tot 133.49
   [ 7]     qtv    move STBD_TURN   dir SOUTH  loc 1368,394  DistToNext 0.000000
    Speed 2, FLAG 1
     time  0.00   tot 133.49
   [ 8]     qtv    move STBD_TURN   dir SOUTH_WEST  loc 1368,394  DistToNext 60.811184
    Speed 0, FLAG 1
     time  0.00   tot 133.49
   [ 9]     qtv    move FORWARD   dir SOUTH_WEST  loc 1325,351  DistToNext 0.000000
    Speed 2, FLAG 1
     time 54.73   tot 188.22
   [10]     qtv    move STBD_TURN   dir WEST  loc 1325,351  DistToNext 228.000000
    Speed 2, FLAG 1
     time  0.00   tot 188.22
   [11]     qtv    move FORWARD   dir WEST  loc 1097,351  DistToNext 0.000000
    Speed 3, FLAG 1
     time 136.80   tot 325.02
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir SOUTH_WEST  loc 1201,693  DistToNext 98.994949
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir SOUTH_WEST  loc 1131,623  DistToNext 0.000000
    Speed 1, FLAG 1
     time 178.19   tot 178.19
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir NORTH_EAST  loc 1309,510  DistToNext 0.000000
    Speed 5, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move STBD_TURN   dir EAST  loc 1309,510  DistToNext 60.000000
    Speed 5, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move FORWARD   dir EAST  loc 1369,510  DistToNext 0.000000
    Speed 3, FLAG 1
     time 36.00   tot 36.00
   [ 3]     qtv    move STBD_TURN   dir SOUTH_EAST  loc 1369,510  DistToNext 60.811184
    Speed 3, FLAG 1
     time  0.00   tot 36.00
   [ 4]     qtv    move FORWARD   dir SOUTH_EAST  loc 1412,467  DistToNext 0.000000
    Speed 2, FLAG 1
     time 54.73   tot 90.73
   [ 5]     qtv    move STBD_TURN   dir SOUTH  loc 1412,467  DistToNext 0.000000
    Speed 2, FLAG 1
     time  0.00   tot 90.73
   [ 6]     qtv    move STBD_TURN   dir SOUTH_WEST  loc 1412,467  DistToNext 98.994949
    Speed 0, FLAG 1
     time  0.00   tot 90.73
   [ 7]     qtv    move FORWARD   dir SOUTH_WEST  loc 1342,397  DistToNext 16.970562
    Speed 2, FLAG 1
     time 89.09   tot 179.82
   [ 8]     qtv    move FORWARD   dir SOUTH_WEST  loc 1354,409  DistToNext 0.000000
    Speed 2, FLAG 2
     time 15.27   tot 195.10
  End Path <===
* ==> Start Path
   [ 0]     qtv    move PORT_TURN   dir NORTH_EAST  loc 1715,-343  DistToNext 50.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir NORTH_EAST  loc 1715,-293  DistToNext 0.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
   [ 2]     qtv    move STBD_TURN   dir EAST  loc 1715,-293  DistToNext 50.000000
    Speed 0, FLAG 1
     time  0.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir NORTH  loc 1240,406  DistToNext 0.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move BACK_SAIL   dir NORTH_WEST  loc 1240,406  DistToNext 59.396969
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move PORT_TURN   dir NORTH_WEST  loc 1240,406  DistToNext 59.396969
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 3]     qtv    move FORWARD   dir NORTH_WEST  loc 1198,448  DistToNext 0.000000
    Speed 1, FLAG 1
     time 106.91   tot 106.91
   [ 4]     qtv    move PORT_TURN   dir WEST  loc 1198,448  DistToNext 19.000000
    Speed 0, FLAG 1
     time  0.00   tot 106.91
   [ 5]     qtv    move FORWARD   dir WEST  loc 1179,448  DistToNext 21.000000
    Speed 1, FLAG 1
     time 34.20   tot 141.11
   [ 6]     qtv    move FORWARD   dir WEST  loc 1158,448  DistToNext 0.000000
    Speed 1, FLAG 2
     time 37.80   tot 178.91
   [ 7]     qtv    move NO_DIRECTION   dir WEST  loc 1158,448  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot 178.91
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir WEST  loc 920,308  DistToNext 50.000000
    Speed 4, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir WEST  loc 920,358  DistToNext 50.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move PORT_TURN   dir WEST  loc 1985,-1275  DistToNext 50.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir WEST  loc 1985,-1225  DistToNext 50.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move PORT_TURN   dir NORTH_WEST  loc 760,240  DistToNext 59.396969
    Speed 3, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir NORTH_WEST  loc 718,282  DistToNext 0.000000
    Speed 3, FLAG 1
     time 35.64   tot 35.64
   [ 2]     qtv    move STBD_TURN   dir NORTH  loc 718,282  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot 35.64
   [ 3]     qtv    move FORWARD   dir NORTH  loc 718,342  DistToNext 0.000000
    Speed 2, FLAG 1
     time 54.00   tot 89.64
   [ 4]     qtv    move STBD_TURN   dir NORTH_EAST  loc 718,342  DistToNext 149.906631
    Speed 0, FLAG 1
     time  0.00   tot 89.64
   [ 5]     qtv    move FORWARD   dir NORTH_EAST  loc 824,448  DistToNext 0.000000
    Speed 3, FLAG 1
     time 89.94   tot 179.58
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir NORTH_WEST  loc 1887,-150  DistToNext 299.813263
    Speed 3, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir NORTH_WEST  loc 1675,62  DistToNext 0.000000
    Speed 3, FLAG 1
     time 179.89   tot 179.89
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir NORTH_WEST  loc 1877,-376  DistToNext 98.994949
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir NORTH_WEST  loc 1807,-306  DistToNext 0.000000
    Speed 1, FLAG 1
     time 178.19   tot 178.19
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir NORTH_WEST  loc 1323,-335  DistToNext 0.000000
    Speed 3, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move STBD_TURN   dir NORTH  loc 1323,-335  DistToNext 200.000000
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move FORWARD   dir NORTH  loc 1323,-135  DistToNext 0.000000
    Speed 2, FLAG 1
     time 180.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir NORTH_WEST  loc 1521,-557  DistToNext 0.000000
    Speed 3, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move STBD_TURN   dir NORTH  loc 1521,-557  DistToNext 200.000000
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move FORWARD   dir NORTH  loc 1521,-357  DistToNext 0.000000
    Speed 2, FLAG 1
     time 180.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir SOUTH_EAST  loc 901,288  DistToNext 50.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir SOUTH_EAST  loc 901,338  DistToNext 50.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir SOUTH_WEST  loc 930,354  DistToNext 98.994949
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir SOUTH_WEST  loc 860,284  DistToNext 0.000000
    Speed 1, FLAG 1
     time 178.19   tot 178.19
  End Path <===
* ==> Start Path
   [ 0]     qtv    move PORT_TURN   dir NORTH  loc 1919,-510  DistToNext 50.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir NORTH  loc 1919,-460  DistToNext 0.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
   [ 2]     qtv    move STBD_TURN   dir NORTH_EAST  loc 1919,-460  DistToNext 50.000000
    Speed 0, FLAG 1
     time  0.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir NORTH_EAST  loc 2126,-464  DistToNext 50.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir NORTH_EAST  loc 2126,-414  DistToNext 0.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
   [ 2]     qtv    move STBD_TURN   dir EAST  loc 2126,-414  DistToNext 50.000000
    Speed 0, FLAG 1
     time  0.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir NORTH_EAST  loc 1214,430  DistToNext 0.000000
    Speed 5, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move STBD_TURN   dir EAST  loc 1214,430  DistToNext 60.000000
    Speed 5, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move FORWARD   dir EAST  loc 1274,430  DistToNext 0.000000
    Speed 3, FLAG 1
     time 36.00   tot 36.00
   [ 3]     qtv    move STBD_TURN   dir SOUTH_EAST  loc 1274,430  DistToNext 60.811184
    Speed 3, FLAG 1
     time  0.00   tot 36.00
   [ 4]     qtv    move FORWARD   dir SOUTH_EAST  loc 1317,387  DistToNext 0.000000
    Speed 2, FLAG 1
     time 54.73   tot 90.73
   [ 5]     qtv    move STBD_TURN   dir SOUTH  loc 1317,387  DistToNext 0.000000
    Speed 2, FLAG 1
     time  0.00   tot 90.73
   [ 6]     qtv    move STBD_TURN   dir SOUTH_WEST  loc 1317,387  DistToNext 98.994949
    Speed 0, FLAG 1
     time  0.00   tot 90.73
   [ 7]     qtv    move FORWARD   dir SOUTH_WEST  loc 1247,317  DistToNext 16.970562
    Speed 2, FLAG 1
     time 89.09   tot 179.82
   [ 8]     qtv    move FORWARD   dir SOUTH_WEST  loc 1259,329  DistToNext 0.000000
    Speed 2, FLAG 2
     time 15.27   tot 195.10
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir SOUTH_WEST  loc 1131,623  DistToNext 0.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move STBD_TURN   dir WEST  loc 1131,623  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move FORWARD   dir WEST  loc 1071,623  DistToNext 0.000000
    Speed 1, FLAG 1
     time 108.00   tot 108.00
   [ 3]     qtv    move STBD_TURN   dir NORTH_WEST  loc 1071,623  DistToNext 59.396969
    Speed 0, FLAG 1
     time  0.00   tot 108.00
   [ 4]     qtv    move FORWARD   dir NORTH_WEST  loc 1029,665  DistToNext 0.000000
    Speed 3, FLAG 1
     time 35.64   tot 143.64
   [ 5]     qtv    move STBD_TURN   dir NORTH  loc 1029,665  DistToNext 40.000000
    Speed 0, FLAG 1
     time  0.00   tot 143.64
   [ 6]     qtv    move FORWARD   dir NORTH  loc 1029,705  DistToNext 21.000000
    Speed 2, FLAG 1
     time 36.00   tot 179.64
   [ 7]     qtv    move FORWARD   dir NORTH  loc 1029,684  DistToNext 0.000000
    Speed 2, FLAG 2
     time 18.90   tot 198.54
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir SOUTH_WEST  loc 1342,397  DistToNext 0.000000
    Speed 2, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move BACK_SAIL   dir WEST  loc 1342,397  DistToNext 300.000000
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move STBD_TURN   dir WEST  loc 1342,397  DistToNext 149.000000
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 3]     qtv    move FORWARD   dir WEST  loc 1193,397  DistToNext 0.000000
    Speed 3, FLAG 1
     time 89.40   tot 89.40
   [ 4]     qtv    move NO_DIRECTION   dir WEST  loc 1193,397  DistToNext 300.000000
    Speed 0, FLAG 1
     time  0.00   tot 89.40
  End Path <===
* ==> Start Path
   [ 0]     qtv    move STBD_TURN   dir EAST  loc 1715,-293  DistToNext 50.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir EAST  loc 1715,-243  DistToNext 0.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
   [ 2]     qtv    move PORT_TURN   dir NORTH_EAST  loc 1715,-243  DistToNext 50.000000
    Speed 0, FLAG 1
     time  0.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir NORTH_WEST  loc 1142,547  DistToNext 0.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move PORT_TURN   dir WEST  loc 1142,547  DistToNext 100.000000
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move FORWARD   dir WEST  loc 1042,547  DistToNext 0.000000
    Speed 1, FLAG 1
     time 180.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir WEST  loc 920,357  DistToNext 50.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir WEST  loc 920,407  DistToNext 0.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
   [ 2]     qtv    move STBD_TURN   dir NORTH_WEST  loc 920,407  DistToNext 50.000000
    Speed 0, FLAG 1
     time  0.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir WEST  loc 1985,-1225  DistToNext 50.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir WEST  loc 1985,-1175  DistToNext 0.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
   [ 2]     qtv    move STBD_TURN   dir NORTH_WEST  loc 1985,-1175  DistToNext 50.000000
    Speed 0, FLAG 1
     time  0.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir NORTH_EAST  loc 824,448  DistToNext 0.000000
    Speed 3, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move PORT_TURN   dir NORTH  loc 824,448  DistToNext 200.000000
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move FORWARD   dir NORTH  loc 824,648  DistToNext 0.000000
    Speed 2, FLAG 1
     time 180.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir NORTH_WEST  loc 1675,62  DistToNext 299.813263
    Speed 3, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir NORTH_WEST  loc 1463,274  DistToNext 0.000000
    Speed 3, FLAG 1
     time 179.89   tot 179.89
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir NORTH_WEST  loc 1807,-306  DistToNext 0.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move PORT_TURN   dir WEST  loc 1807,-306  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move FORWARD   dir WEST  loc 1747,-306  DistToNext 0.000000
    Speed 1, FLAG 1
     time 108.00   tot 108.00
   [ 3]     qtv    move PORT_TURN   dir SOUTH_WEST  loc 1747,-306  DistToNext 39.597980
    Speed 0, FLAG 1
     time  0.00   tot 108.00
   [ 4]     qtv    move FORWARD   dir SOUTH_WEST  loc 1719,-334  DistToNext 19.798990
    Speed 1, FLAG 1
     time 71.28   tot 179.27
   [ 5]     qtv    move FORWARD   dir SOUTH_WEST  loc 1733,-320  DistToNext 0.000000
    Speed 1, FLAG 2
     time 35.64   tot 214.91
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir NORTH  loc 1323,-135  DistToNext 200.000000
    Speed 2, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir NORTH  loc 1323,65  DistToNext 0.000000
    Speed 2, FLAG 1
     time 180.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir NORTH  loc 1521,-357  DistToNext 200.000000
    Speed 2, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir NORTH  loc 1521,-157  DistToNext 0.000000
    Speed 2, FLAG 1
     time 180.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir SOUTH_EAST  loc 901,426  DistToNext 0.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move PORT_TURN   dir EAST  loc 901,426  DistToNext 40.000000
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move FORWARD   dir EAST  loc 941,426  DistToNext 0.000000
    Speed 2, FLAG 1
     time 36.00   tot 36.00
   [ 3]     qtv    move PORT_TURN   dir NORTH_EAST  loc 941,426  DistToNext 39.597980
    Speed 0, FLAG 1
     time  0.00   tot 36.00
   [ 4]     qtv    move FORWARD   dir NORTH_EAST  loc 969,454  DistToNext 0.000000
    Speed 3, FLAG 1
     time 23.76   tot 59.76
   [ 5]     qtv    move PORT_TURN   dir NORTH  loc 969,454  DistToNext 40.000000
    Speed 0, FLAG 1
     time  0.00   tot 59.76
   [ 6]     qtv    move FORWARD   dir NORTH  loc 969,494  DistToNext 0.000000
    Speed 3, FLAG 1
     time 24.00   tot 83.76
   [ 7]     qtv    move PORT_TURN   dir NORTH_WEST  loc 969,494  DistToNext 39.597980
    Speed 0, FLAG 1
     time  0.00   tot 83.76
   [ 8]     qtv    move FORWARD   dir NORTH_WEST  loc 941,522  DistToNext 0.000000
    Speed 3, FLAG 1
     time 23.76   tot 107.52
   [ 9]     qtv    move PORT_TURN   dir WEST  loc 941,522  DistToNext 40.000000
    Speed 0, FLAG 1
     time  0.00   tot 107.52
   [10]     qtv    move FORWARD   dir WEST  loc 901,522  DistToNext 0.000000
    Speed 2, FLAG 1
     time 36.00   tot 143.52
   [11]     qtv    move PORT_TURN   dir SOUTH_WEST  loc 901,522  DistToNext 19.798990
    Speed 0, FLAG 1
     time  0.00   tot 143.52
   [12]     qtv    move FORWARD   dir SOUTH_WEST  loc 887,508  DistToNext 0.000000
    Speed 1, FLAG 1
     time 35.64   tot 179.15
   [13]     qtv    move FORWARD   dir SOUTH_WEST  loc 887,508  DistToNext 0.000000
    Speed 1, FLAG 2
     time  0.00   tot 179.15
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir SOUTH_WEST  loc 830,475  DistToNext 0.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move STBD_TURN   dir WEST  loc 830,475  DistToNext 0.000000
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move PORT_TURN   dir SOUTH_WEST  loc 830,475  DistToNext 41.012192
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 3]     qtv    move FORWARD   dir SOUTH_WEST  loc 801,446  DistToNext 0.000000
    Speed 1, FLAG 1
     time 73.82   tot 73.82
   [ 4]     qtv    move PORT_TURN   dir SOUTH  loc 801,446  DistToNext 40.000000
    Speed 1, FLAG 1
     time  0.00   tot 73.82
   [ 5]     qtv    move FORWARD   dir SOUTH  loc 801,406  DistToNext 0.000000
    Speed 1, FLAG 1
     time 72.00   tot 145.82
   [ 6]     qtv    move PORT_TURN   dir SOUTH_EAST  loc 801,406  DistToNext 0.000000
    Speed 1, FLAG 1
     time  0.00   tot 145.82
   [ 7]     qtv    move PORT_TURN   dir EAST  loc 801,406  DistToNext 40.000000
    Speed 0, FLAG 1
     time  0.00   tot 145.82
   [ 8]     qtv    move FORWARD   dir EAST  loc 841,406  DistToNext 0.000000
    Speed 3, FLAG 1
     time 24.00   tot 169.82
   [ 9]     qtv    move PORT_TURN   dir NORTH_EAST  loc 841,406  DistToNext 26.870058
    Speed 3, FLAG 1
     time  0.00   tot 169.82
   [10]     qtv    move FORWARD   dir NORTH_EAST  loc 860,425  DistToNext 15.556349
    Speed 5, FLAG 1
     time  9.67   tot 179.49
   [11]     qtv    move FORWARD   dir NORTH_EAST  loc 849,414  DistToNext 0.000000
    Speed 5, FLAG 2
     time  5.60   tot 185.09
  End Path <===
* ==> Start Path
   [ 0]     qtv    move STBD_TURN   dir NORTH_EAST  loc 1919,-460  DistToNext 50.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir NORTH_EAST  loc 1919,-410  DistToNext 0.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
   [ 2]     qtv    move STBD_TURN   dir EAST  loc 1919,-410  DistToNext 50.000000
    Speed 0, FLAG 1
     time  0.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move STBD_TURN   dir EAST  loc 2126,-414  DistToNext 50.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir EAST  loc 2126,-364  DistToNext 0.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
   [ 2]     qtv    move STBD_TURN   dir SOUTH_EAST  loc 2126,-364  DistToNext 50.000000
    Speed 0, FLAG 1
     time  0.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir SOUTH_EAST  loc 1274,466  DistToNext 0.000000
    Speed 2, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move PORT_TURN   dir EAST  loc 1274,466  DistToNext 0.000000
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move STBD_TURN   dir SOUTH_EAST  loc 1274,466  DistToNext 60.811184
    Speed 2, FLAG 1
     time  0.00   tot  0.00
   [ 3]     qtv    move FORWARD   dir SOUTH_EAST  loc 1317,423  DistToNext 0.000000
    Speed 2, FLAG 1
     time 54.73   tot 54.73
   [ 4]     qtv    move STBD_TURN   dir SOUTH  loc 1317,423  DistToNext 60.000000
    Speed 2, FLAG 1
     time  0.00   tot 54.73
   [ 5]     qtv    move FORWARD   dir SOUTH  loc 1317,363  DistToNext 0.000000
    Speed 2, FLAG 1
     time 54.00   tot 108.73
   [ 6]     qtv    move STBD_TURN   dir SOUTH_WEST  loc 1317,363  DistToNext 0.000000
    Speed 2, FLAG 1
     time  0.00   tot 108.73
   [ 7]     qtv    move STBD_TURN   dir WEST  loc 1317,363  DistToNext 118.000000
    Speed 0, FLAG 1
     time  0.00   tot 108.73
   [ 8]     qtv    move FORWARD   dir WEST  loc 1199,363  DistToNext 57.000000
    Speed 3, FLAG 1
     time 70.80   tot 179.53
   [ 9]     qtv    move FORWARD   dir WEST  loc 1256,363  DistToNext 0.000000
    Speed 3, FLAG 2
     time 34.20   tot 213.73
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir NORTH  loc 1029,705  DistToNext 0.000000
    Speed 2, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move PORT_TURN   dir NORTH_WEST  loc 1029,705  DistToNext 59.396969
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move FORWARD   dir NORTH_WEST  loc 987,747  DistToNext 0.000000
    Speed 3, FLAG 1
     time 35.64   tot 35.64
   [ 3]     qtv    move PORT_TURN   dir WEST  loc 987,747  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot 35.64
   [ 4]     qtv    move FORWARD   dir WEST  loc 927,747  DistToNext 0.000000
    Speed 1, FLAG 1
     time 108.00   tot 143.64
   [ 5]     qtv    move PORT_TURN   dir SOUTH_WEST  loc 927,747  DistToNext 19.798990
    Speed 0, FLAG 1
     time  0.00   tot 143.64
   [ 6]     qtv    move FORWARD   dir SOUTH_WEST  loc 913,733  DistToNext 19.798990
    Speed 1, FLAG 1
     time 35.64   tot 179.27
   [ 7]     qtv    move FORWARD   dir SOUTH_WEST  loc 899,719  DistToNext 0.000000
    Speed 1, FLAG 2
     time 35.64   tot 214.91
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir WEST  loc 1196,526  DistToNext 0.000000
    Speed 2, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move STBD_TURN   dir NORTH_WEST  loc 1196,526  DistToNext 118.793938
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move FORWARD   dir NORTH_WEST  loc 1112,610  DistToNext 0.000000
    Speed 4, FLAG 1
     time 53.46   tot 53.46
   [ 3]     qtv    move PORT_TURN   dir WEST  loc 1112,610  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot 53.46
   [ 4]     qtv    move FORWARD   dir WEST  loc 1052,610  DistToNext 0.000000
    Speed 2, FLAG 1
     time 54.00   tot 107.46
   [ 5]     qtv    move PORT_TURN   dir SOUTH_WEST  loc 1052,610  DistToNext 60.811184
    Speed 2, FLAG 1
     time  0.00   tot 107.46
   [ 6]     qtv    move FORWARD   dir SOUTH_WEST  loc 1009,567  DistToNext 0.000000
    Speed 1, FLAG 1
     time 109.46   tot 216.92
   [ 7]     qtv    move PORT_TURN   dir SOUTH  loc 1009,567  DistToNext 0.000000
    Speed 1, FLAG 1
     time  0.00   tot 216.92
   [ 8]     qtv    move PORT_TURN   dir SOUTH_EAST  loc 1009,567  DistToNext 60.811184
    Speed 0, FLAG 1
     time  0.00   tot 216.92
   [ 9]     qtv    move FORWARD   dir SOUTH_EAST  loc 1052,524  DistToNext 0.000000
    Speed 1, FLAG 1
     time 109.46   tot 326.37
   [10]     qtv    move STBD_TURN   dir SOUTH  loc 1052,524  DistToNext -40.660416
    Speed 1, FLAG 1
     time  0.00   tot 326.37
   [11]     qtv    move FORWARD   dir SOUTH  loc 1052,484  DistToNext 0.000000
    Speed -1, FLAG 1
     time -146.38   tot 180.00
   [12]     qtv    move PORT_TURN   dir SOUTH_EAST  loc 1052,484  DistToNext -40.660416
    Speed 0, FLAG 1
     time  0.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move PORT_TURN   dir NORTH_EAST  loc 1715,-243  DistToNext 50.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir NORTH_EAST  loc 1715,-193  DistToNext 50.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir WEST  loc 1042,547  DistToNext 0.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move BACK_SAIL   dir SOUTH_WEST  loc 1042,547  DistToNext 98.994949
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move PORT_TURN   dir SOUTH_WEST  loc 1042,547  DistToNext 98.994949
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 3]     qtv    move FORWARD   dir SOUTH_WEST  loc 972,477  DistToNext 0.000000
    Speed 1, FLAG 1
     time 178.19   tot 178.19
   [ 4]     qtv    move NO_DIRECTION   dir SOUTH_WEST  loc 972,477  DistToNext 0.000000
    Speed 0, FLAG 1
     time  0.00   tot 178.19
  End Path <===
* ==> Start Path
   [ 0]     qtv    move STBD_TURN   dir NORTH_WEST  loc 920,407  DistToNext 50.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir NORTH_WEST  loc 920,457  DistToNext 0.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
   [ 2]     qtv    move PORT_TURN   dir WEST  loc 920,457  DistToNext 50.000000
    Speed 0, FLAG 1
     time  0.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move STBD_TURN   dir NORTH_WEST  loc 1985,-1175  DistToNext 50.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir NORTH_WEST  loc 1985,-1125  DistToNext 0.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
   [ 2]     qtv    move PORT_TURN   dir WEST  loc 1985,-1125  DistToNext 50.000000
    Speed 0, FLAG 1
     time  0.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir NORTH  loc 831,505  DistToNext 50.000000
    Speed 2, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir NORTH  loc 831,555  DistToNext 50.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir NORTH_WEST  loc 1463,274  DistToNext 118.793938
    Speed 3, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir NORTH_WEST  loc 1379,358  DistToNext 0.000000
    Speed 3, FLAG 1
     time 71.28   tot 71.28
   [ 2]     qtv    move PORT_TURN   dir WEST  loc 1379,358  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot 71.28
   [ 3]     qtv    move FORWARD   dir WEST  loc 1319,358  DistToNext 0.000000
    Speed 1, FLAG 1
     time 108.00   tot 179.27
   [ 4]     qtv    move PORT_TURN   dir SOUTH_WEST  loc 1319,358  DistToNext 60.811184
    Speed 1, FLAG 1
     time  0.00   tot 179.27
   [ 5]     qtv    move FORWARD   dir SOUTH_WEST  loc 1276,315  DistToNext 0.000000
    Speed 1, FLAG 1
     time 109.46   tot 288.73
   [ 6]     qtv    move PORT_TURN   dir SOUTH  loc 1276,315  DistToNext 0.000000
    Speed 1, FLAG 1
     time  0.00   tot 288.73
   [ 7]     qtv    move PORT_TURN   dir SOUTH_EAST  loc 1276,315  DistToNext 60.811184
    Speed 0, FLAG 1
     time  0.00   tot 288.73
   [ 8]     qtv    move FORWARD   dir SOUTH_EAST  loc 1319,272  DistToNext 0.000000
    Speed 1, FLAG 1
     time 109.46   tot 398.19
   [ 9]     qtv    move STBD_TURN   dir SOUTH  loc 1319,272  DistToNext -60.610180
    Speed 1, FLAG 1
     time  0.00   tot 398.19
   [10]     qtv    move FORWARD   dir SOUTH  loc 1319,212  DistToNext 0.000000
    Speed -1, FLAG 1
     time -218.20   tot 180.00
   [11]     qtv    move STBD_TURN   dir SOUTH_WEST  loc 1319,212  DistToNext -60.610180
    Speed 0, FLAG 1
     time  0.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir SOUTH_WEST  loc 1719,-334  DistToNext 0.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move STBD_TURN   dir WEST  loc 1719,-334  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move FORWARD   dir WEST  loc 1659,-334  DistToNext 0.000000
    Speed 1, FLAG 1
     time 108.00   tot 108.00
   [ 3]     qtv    move STBD_TURN   dir NORTH_WEST  loc 1659,-334  DistToNext 39.597980
    Speed 0, FLAG 1
     time  0.00   tot 108.00
   [ 4]     qtv    move FORWARD   dir NORTH_WEST  loc 1631,-306  DistToNext 19.798990
    Speed 1, FLAG 1
     time 71.28   tot 179.27
   [ 5]     qtv    move FORWARD   dir NORTH_WEST  loc 1645,-320  DistToNext 0.000000
    Speed 1, FLAG 2
     time 35.64   tot 214.91
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir NORTH  loc 1323,65  DistToNext 140.000000
    Speed 2, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir NORTH  loc 1323,205  DistToNext 0.000000
    Speed 2, FLAG 1
     time 126.00   tot 126.00
   [ 2]     qtv    move STBD_TURN   dir NORTH_EAST  loc 1323,205  DistToNext 70.710678
    Speed 0, FLAG 1
     time  0.00   tot 126.00
   [ 3]     qtv    move FORWARD   dir NORTH_EAST  loc 1373,255  DistToNext 0.000000
    Speed 3, FLAG 1
     time 42.43   tot 168.43
   [ 4]     qtv    move STBD_TURN   dir EAST  loc 1373,255  DistToNext 70.000000
    Speed 3, FLAG 1
     time  0.00   tot 168.43
   [ 5]     qtv    move FORWARD   dir EAST  loc 1443,255  DistToNext 0.000000
    Speed 2, FLAG 1
     time 63.00   tot 231.42
   [ 6]     qtv    move STBD_TURN   dir SOUTH_EAST  loc 1443,255  DistToNext 0.000000
    Speed 2, FLAG 1
     time  0.00   tot 231.42
   [ 7]     qtv    move STBD_TURN   dir SOUTH  loc 1443,255  DistToNext 70.000000
    Speed 0, FLAG 1
     time  0.00   tot 231.42
   [ 8]     qtv    move FORWARD   dir SOUTH  loc 1443,185  DistToNext 0.000000
    Speed 2, FLAG 1
     time 63.00   tot 294.42
   [ 9]     qtv    move STBD_TURN   dir SOUTH_WEST  loc 1443,185  DistToNext 29.698484
    Speed 2, FLAG 1
     time  0.00   tot 294.42
   [10]     qtv    move FORWARD   dir SOUTH_WEST  loc 1422,164  DistToNext 9.899495
    Speed 1, FLAG 1
     time 53.46   tot 347.88
   [11]     qtv    move FORWARD   dir SOUTH_WEST  loc 1415,157  DistToNext 0.000000
    Speed 1, FLAG 2
     time 17.82   tot 365.70
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir NORTH  loc 1521,-157  DistToNext 120.000000
    Speed 2, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir NORTH  loc 1521,-37  DistToNext 0.000000
    Speed 2, FLAG 1
     time 108.00   tot 108.00
   [ 2]     qtv    move STBD_TURN   dir NORTH_EAST  loc 1521,-37  DistToNext 60.811184
    Speed 0, FLAG 1
     time  0.00   tot 108.00
   [ 3]     qtv    move FORWARD   dir NORTH_EAST  loc 1564,6  DistToNext 0.000000
    Speed 3, FLAG 1
     time 36.49   tot 144.49
   [ 4]     qtv    move STBD_TURN   dir EAST  loc 1564,6  DistToNext 60.000000
    Speed 3, FLAG 1
     time  0.00   tot 144.49
   [ 5]     qtv    move FORWARD   dir EAST  loc 1624,6  DistToNext 0.000000
    Speed 1, FLAG 1
     time 108.00   tot 252.48
   [ 6]     qtv    move STBD_TURN   dir SOUTH_EAST  loc 1624,6  DistToNext 0.000000
    Speed 1, FLAG 1
     time  0.00   tot 252.48
   [ 7]     qtv    move STBD_TURN   dir SOUTH  loc 1624,6  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot 252.48
   [ 8]     qtv    move FORWARD   dir SOUTH  loc 1624,-54  DistToNext 0.000000
    Speed 1, FLAG 1
     time 108.00   tot 360.48
   [ 9]     qtv    move STBD_TURN   dir SOUTH_WEST  loc 1624,-54  DistToNext 39.597980
    Speed 1, FLAG 1
     time  0.00   tot 360.48
   [10]     qtv    move FORWARD   dir SOUTH_WEST  loc 1596,-82  DistToNext 19.798990
    Speed 1, FLAG 1
     time 71.28   tot 431.76
   [11]     qtv    move FORWARD   dir SOUTH_WEST  loc 1610,-68  DistToNext 0.000000
    Speed 1, FLAG 2
     time 35.64   tot 467.40
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir EAST  loc 864,476  DistToNext 50.000000
    Speed 2, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir EAST  loc 864,526  DistToNext 50.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir SOUTH_WEST  loc 823,515  DistToNext 50.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir SOUTH_WEST  loc 823,565  DistToNext 50.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move STBD_TURN   dir EAST  loc 1919,-410  DistToNext 50.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir EAST  loc 1919,-360  DistToNext 0.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
   [ 2]     qtv    move STBD_TURN   dir SOUTH_EAST  loc 1919,-360  DistToNext 50.000000
    Speed 0, FLAG 1
     time  0.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move STBD_TURN   dir SOUTH_EAST  loc 2126,-364  DistToNext 50.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir SOUTH_EAST  loc 2126,-314  DistToNext 0.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
   [ 2]     qtv    move PORT_TURN   dir EAST  loc 2126,-314  DistToNext 50.000000
    Speed 0, FLAG 1
     time  0.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir WEST  loc 1199,363  DistToNext 0.000000
    Speed 3, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move PORT_TURN   dir SOUTH_WEST  loc 1199,363  DistToNext 60.811184
    Speed 3, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move FORWARD   dir SOUTH_WEST  loc 1156,320  DistToNext 0.000000
    Speed 2, FLAG 1
     time 54.73   tot 54.73
   [ 3]     qtv    move PORT_TURN   dir SOUTH  loc 1156,320  DistToNext 60.000000
    Speed 2, FLAG 1
     time  0.00   tot 54.73
   [ 4]     qtv    move FORWARD   dir SOUTH  loc 1156,260  DistToNext 0.000000
    Speed 2, FLAG 1
     time 54.00   tot 108.73
   [ 5]     qtv    move PORT_TURN   dir SOUTH_EAST  loc 1156,260  DistToNext 0.000000
    Speed 2, FLAG 1
     time  0.00   tot 108.73
   [ 6]     qtv    move PORT_TURN   dir EAST  loc 1156,260  DistToNext 118.000000
    Speed 0, FLAG 1
     time  0.00   tot 108.73
   [ 7]     qtv    move FORWARD   dir EAST  loc 1274,260  DistToNext 57.000000
    Speed 3, FLAG 1
     time 70.80   tot 179.53
   [ 8]     qtv    move FORWARD   dir EAST  loc 1217,260  DistToNext 0.000000
    Speed 3, FLAG 2
     time 34.20   tot 213.73
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir SOUTH_WEST  loc 913,733  DistToNext 0.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move STBD_TURN   dir WEST  loc 913,733  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move FORWARD   dir WEST  loc 853,733  DistToNext 0.000000
    Speed 1, FLAG 1
     time 108.00   tot 108.00
   [ 3]     qtv    move STBD_TURN   dir NORTH_WEST  loc 853,733  DistToNext 59.396969
    Speed 0, FLAG 1
     time  0.00   tot 108.00
   [ 4]     qtv    move FORWARD   dir NORTH_WEST  loc 811,775  DistToNext 0.000000
    Speed 3, FLAG 1
     time 35.64   tot 143.64
   [ 5]     qtv    move STBD_TURN   dir NORTH  loc 811,775  DistToNext 40.000000
    Speed 0, FLAG 1
     time  0.00   tot 143.64
   [ 6]     qtv    move FORWARD   dir NORTH  loc 811,815  DistToNext 21.000000
    Speed 2, FLAG 1
     time 36.00   tot 179.64
   [ 7]     qtv    move FORWARD   dir NORTH  loc 811,794  DistToNext 0.000000
    Speed 2, FLAG 2
     time 18.90   tot 198.54
  End Path <===
* ==> Start Path
   [ 0]     qtv    move PORT_TURN   dir SOUTH_WEST  loc 1052,484  DistToNext 59.396969
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir SOUTH_WEST  loc 1010,442  DistToNext 0.000000
    Speed 1, FLAG 1
     time 106.91   tot 106.91
   [ 2]     qtv    move STBD_TURN   dir WEST  loc 1010,442  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot 106.91
   [ 3]     qtv    move FORWARD   dir WEST  loc 950,442  DistToNext 0.000000
    Speed 2, FLAG 1
     time 54.00   tot 160.91
   [ 4]     qtv    move STBD_TURN   dir NORTH_WEST  loc 950,442  DistToNext 39.597980
    Speed 0, FLAG 1
     time  0.00   tot 160.91
   [ 5]     qtv    move FORWARD   dir NORTH_WEST  loc 922,470  DistToNext 19.798990
    Speed 4, FLAG 1
     time 17.82   tot 178.73
   [ 6]     qtv    move FORWARD   dir NORTH_WEST  loc 936,456  DistToNext 0.000000
    Speed 4, FLAG 2
     time  8.91   tot 187.64
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir NORTH_EAST  loc 1715,-193  DistToNext 50.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir NORTH_EAST  loc 1715,-143  DistToNext 50.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move NO_DIRECTION   dir SOUTH_WEST  loc 972,477  DistToNext 59.396969
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move BACK_SAIL   dir SOUTH_WEST  loc 930,435  DistToNext 0.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move FORWARD   dir SOUTH_WEST  loc 930,435  DistToNext 0.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 3]     qtv    move STBD_TURN   dir WEST  loc 930,435  DistToNext 40.000000
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 4]     qtv    move FORWARD   dir WEST  loc 890,435  DistToNext 21.000000
    Speed 1, FLAG 1
     time 72.00   tot 72.00
   [ 5]     qtv    move FORWARD   dir WEST  loc 911,435  DistToNext 0.000000
    Speed 1, FLAG 2
     time 37.80   tot 109.80
   [ 6]     qtv    move NO_DIRECTION   dir WEST  loc 911,435  DistToNext 0.000000
    Speed 0, FLAG 1
     time  0.00   tot 109.80
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir NORTH_WEST  loc 920,463  DistToNext 50.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir NORTH_WEST  loc 920,513  DistToNext 0.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
   [ 2]     qtv    move PORT_TURN   dir WEST  loc 920,513  DistToNext 50.000000
    Speed 0, FLAG 1
     time  0.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move PORT_TURN   dir WEST  loc 1985,-1125  DistToNext 50.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir WEST  loc 1985,-1075  DistToNext 0.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
   [ 2]     qtv    move PORT_TURN   dir SOUTH_WEST  loc 1985,-1075  DistToNext 50.000000
    Speed 0, FLAG 1
     time  0.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move PORT_TURN   dir NORTH_WEST  loc 741,645  DistToNext 50.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir NORTH_WEST  loc 741,695  DistToNext 0.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
   [ 2]     qtv    move PORT_TURN   dir WEST  loc 741,695  DistToNext 50.000000
    Speed 0, FLAG 1
     time  0.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move STBD_TURN   dir SOUTH_WEST  loc 1319,212  DistToNext 59.396969
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir SOUTH_WEST  loc 1277,170  DistToNext 0.000000
    Speed 1, FLAG 1
     time 106.91   tot 106.91
   [ 2]     qtv    move STBD_TURN   dir WEST  loc 1277,170  DistToNext 40.000000
    Speed 0, FLAG 1
     time  0.00   tot 106.91
   [ 3]     qtv    move FORWARD   dir WEST  loc 1237,170  DistToNext 21.000000
    Speed 1, FLAG 1
     time 72.00   tot 178.91
   [ 4]     qtv    move FORWARD   dir WEST  loc 1258,170  DistToNext 0.000000
    Speed 1, FLAG 2
     time 37.80   tot 216.71
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir NORTH_WEST  loc 1631,-306  DistToNext 0.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move PORT_TURN   dir WEST  loc 1631,-306  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move FORWARD   dir WEST  loc 1571,-306  DistToNext 0.000000
    Speed 1, FLAG 1
     time 108.00   tot 108.00
   [ 3]     qtv    move PORT_TURN   dir SOUTH_WEST  loc 1571,-306  DistToNext 39.597980
    Speed 0, FLAG 1
     time  0.00   tot 108.00
   [ 4]     qtv    move FORWARD   dir SOUTH_WEST  loc 1543,-334  DistToNext 19.798990
    Speed 1, FLAG 1
     time 71.28   tot 179.27
   [ 5]     qtv    move FORWARD   dir SOUTH_WEST  loc 1557,-320  DistToNext 0.000000
    Speed 1, FLAG 2
     time 35.64   tot 214.91
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir EAST  loc 1422,164  DistToNext 0.000000
    Speed 2, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move PORT_TURN   dir NORTH_EAST  loc 1422,164  DistToNext 69.296463
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move FORWARD   dir NORTH_EAST  loc 1471,213  DistToNext 0.000000
    Speed 3, FLAG 1
     time 41.58   tot 41.58
   [ 3]     qtv    move PORT_TURN   dir NORTH  loc 1471,213  DistToNext 70.000000
    Speed 0, FLAG 1
     time  0.00   tot 41.58
   [ 4]     qtv    move FORWARD   dir NORTH  loc 1471,283  DistToNext 0.000000
    Speed 2, FLAG 1
     time 63.00   tot 104.58
   [ 5]     qtv    move PORT_TURN   dir NORTH_WEST  loc 1471,283  DistToNext 69.296463
    Speed 0, FLAG 1
     time  0.00   tot 104.58
   [ 6]     qtv    move FORWARD   dir NORTH_WEST  loc 1422,332  DistToNext 0.000000
    Speed 3, FLAG 1
     time 41.58   tot 146.15
   [ 7]     qtv    move PORT_TURN   dir WEST  loc 1422,332  DistToNext 36.000000
    Speed 0, FLAG 1
     time  0.00   tot 146.15
   [ 8]     qtv    move FORWARD   dir WEST  loc 1386,332  DistToNext 3.000000
    Speed 2, FLAG 1
     time 32.40   tot 178.55
   [ 9]     qtv    move FORWARD   dir WEST  loc 1389,332  DistToNext 0.000000
    Speed 2, FLAG 2
     time  2.70   tot 181.25
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir EAST  loc 1596,-82  DistToNext 0.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move PORT_TURN   dir NORTH_EAST  loc 1596,-82  DistToNext 59.396969
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move FORWARD   dir NORTH_EAST  loc 1638,-40  DistToNext 0.000000
    Speed 3, FLAG 1
     time 35.64   tot 35.64
   [ 3]     qtv    move PORT_TURN   dir NORTH  loc 1638,-40  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot 35.64
   [ 4]     qtv    move FORWARD   dir NORTH  loc 1638,20  DistToNext 0.000000
    Speed 2, FLAG 1
     time 54.00   tot 89.64
   [ 5]     qtv    move PORT_TURN   dir NORTH_WEST  loc 1638,20  DistToNext 149.906631
    Speed 0, FLAG 1
     time  0.00   tot 89.64
   [ 6]     qtv    move FORWARD   dir NORTH_WEST  loc 1532,126  DistToNext 0.000000
    Speed 3, FLAG 1
     time 89.94   tot 179.58
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir EAST  loc 864,616  DistToNext 0.000000
    Speed 2, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move STBD_TURN   dir SOUTH_EAST  loc 864,616  DistToNext 39.597980
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move FORWARD   dir SOUTH_EAST  loc 892,588  DistToNext 0.000000
    Speed 1, FLAG 1
     time 71.28   tot 71.28
   [ 3]     qtv    move STBD_TURN   dir SOUTH  loc 892,588  DistToNext 40.000000
    Speed 0, FLAG 1
     time  0.00   tot 71.28
   [ 4]     qtv    move FORWARD   dir SOUTH  loc 892,548  DistToNext 0.000000
    Speed 0, FLAG 1
     time   inf   tot   inf
   [ 5]     qtv    move STBD_TURN   dir SOUTH_WEST  loc 892,548  DistToNext 41.012192
    Speed 0, FLAG 1
     time  0.00   tot   inf
   [ 6]     qtv    move FORWARD   dir SOUTH_WEST  loc 863,519  DistToNext 0.000000
    Speed 1, FLAG 1
     time 73.82   tot   inf
   [ 7]     qtv    move STBD_TURN   dir WEST  loc 863,519  DistToNext 0.000000
    Speed 1, FLAG 1
     time  0.00   tot   inf
   [ 8]     qtv    move STBD_TURN   dir NORTH_WEST  loc 863,519  DistToNext 41.012192
    Speed 0, FLAG 1
     time  0.00   tot   inf
   [ 9]     qtv    move FORWARD   dir NORTH_WEST  loc 834,548  DistToNext 0.000000
    Speed 3, FLAG 1
     time 24.61   tot   inf
   [10]     qtv    move STBD_TURN   dir NORTH  loc 834,548  DistToNext 40.000000
    Speed 3, FLAG 1
     time  0.00   tot   inf
   [11]     qtv    move FORWARD   dir NORTH  loc 834,588  DistToNext 0.000000
    Speed 3, FLAG 1
     time 24.00   tot   inf
   [12]     qtv    move STBD_TURN   dir NORTH_EAST  loc 834,588  DistToNext 41.012192
    Speed 0, FLAG 1
     time  0.00   tot   inf
   [13]     qtv    move FORWARD   dir NORTH_EAST  loc 863,617  DistToNext 0.000000
    Speed 3, FLAG 1
     time 24.61   tot   inf
   [14]     qtv    move STBD_TURN   dir EAST  loc 863,617  DistToNext 40.000000
    Speed 3, FLAG 1
     time  0.00   tot   inf
   [15]     qtv    move FORWARD   dir EAST  loc 903,617  DistToNext 0.000000
    Speed 2, FLAG 1
     time 36.00   tot   inf
   [16]     qtv    move STBD_TURN   dir SOUTH_EAST  loc 903,617  DistToNext 0.000000
    Speed 2, FLAG 1
     time  0.00   tot   inf
   [17]     qtv    move STBD_TURN   dir SOUTH  loc 903,617  DistToNext 40.000000
    Speed 0, FLAG 1
     time  0.00   tot   inf
   [18]     qtv    move FORWARD   dir SOUTH  loc 903,577  DistToNext 0.000000
    Speed 2, FLAG 1
     time 36.00   tot   inf
   [19]     qtv    move STBD_TURN   dir SOUTH_WEST  loc 903,577  DistToNext 39.597980
    Speed 2, FLAG 1
     time  0.00   tot   inf
   [20]     qtv    move FORWARD   dir SOUTH_WEST  loc 875,549  DistToNext 0.000000
    Speed 1, FLAG 1
     time 71.28   tot   inf
   [21]     qtv    move PORT_TURN   dir SOUTH  loc 875,549  DistToNext 40.000000
    Speed 0, FLAG 1
     time  0.00   tot   inf
   [22]     qtv    move FORWARD   dir SOUTH  loc 875,509  DistToNext 0.000000
    Speed 0, FLAG 1
     time   inf   tot   inf
   [23]     qtv    move PORT_TURN   dir SOUTH_EAST  loc 875,509  DistToNext 41.012192
    Speed 0, FLAG 1
     time  0.00   tot   inf
   [24]     qtv    move FORWARD   dir SOUTH_EAST  loc 904,480  DistToNext 0.000000
    Speed 1, FLAG 1
     time 73.82   tot   inf
   [25]     qtv    move PORT_TURN   dir EAST  loc 904,480  DistToNext 0.000000
    Speed 1, FLAG 1
     time  0.00   tot   inf
   [26]     qtv    move PORT_TURN   dir NORTH_EAST  loc 904,480  DistToNext 41.012192
    Speed 0, FLAG 1
     time  0.00   tot   inf
   [27]     qtv    move FORWARD   dir NORTH_EAST  loc 933,509  DistToNext 0.000000
    Speed 3, FLAG 1
     time 24.61   tot   inf
   [28]     qtv    move STBD_TURN   dir EAST  loc 933,509  DistToNext 13.000000
    Speed 3, FLAG 1
     time  0.00   tot   inf
   [29]     qtv    move FORWARD   dir EAST  loc 946,509  DistToNext 13.000000
    Speed 2, FLAG 1
     time 11.70   tot   inf
   [30]     qtv    move FORWARD   dir EAST  loc 959,509  DistToNext 0.000000
    Speed 2, FLAG 2
     time 11.70   tot   inf
  End Path <===
* ==> Start Path
   [ 0]     qtv    move STBD_TURN   dir WEST  loc 823,655  DistToNext 40.000000
    Speed 3, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir WEST  loc 783,655  DistToNext 0.000000
    Speed 3, FLAG 1
     time 24.00   tot 24.00
   [ 2]     qtv    move STBD_TURN   dir NORTH_WEST  loc 783,655  DistToNext 39.597980
    Speed 0, FLAG 1
     time  0.00   tot 24.00
   [ 3]     qtv    move FORWARD   dir NORTH_WEST  loc 755,683  DistToNext 0.000000
    Speed 5, FLAG 1
     time 14.26   tot 38.25
   [ 4]     qtv    move STBD_TURN   dir NORTH  loc 755,683  DistToNext 40.000000
    Speed 0, FLAG 1
     time  0.00   tot 38.25
   [ 5]     qtv    move FORWARD   dir NORTH  loc 755,723  DistToNext 0.000000
    Speed 4, FLAG 1
     time 18.00   tot 56.25
   [ 6]     qtv    move STBD_TURN   dir NORTH_EAST  loc 755,723  DistToNext 339.411255
    Speed 0, FLAG 1
     time  0.00   tot 56.25
   [ 7]     qtv    move FORWARD   dir NORTH_EAST  loc 995,963  DistToNext 7.071068
    Speed 5, FLAG 1
     time 122.19   tot 178.44
   [ 8]     qtv    move FORWARD   dir NORTH_EAST  loc 990,958  DistToNext 0.000000
    Speed 5, FLAG 2
     time  2.55   tot 180.99
  End Path <===
* ==> Start Path
   [ 0]     qtv    move STBD_TURN   dir SOUTH_EAST  loc 1919,-360  DistToNext 50.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir SOUTH_EAST  loc 1919,-310  DistToNext 0.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
   [ 2]     qtv    move PORT_TURN   dir EAST  loc 1919,-310  DistToNext 50.000000
    Speed 0, FLAG 1
     time  0.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move PORT_TURN   dir EAST  loc 2126,-314  DistToNext 50.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir EAST  loc 2126,-264  DistToNext 0.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
   [ 2]     qtv    move PORT_TURN   dir NORTH_EAST  loc 2126,-264  DistToNext 50.000000
    Speed 0, FLAG 1
     time  0.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir EAST  loc 1274,260  DistToNext 0.000000
    Speed 3, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move STBD_TURN   dir SOUTH_EAST  loc 1274,260  DistToNext 199.404114
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move FORWARD   dir SOUTH_EAST  loc 1415,119  DistToNext 0.000000
    Speed 2, FLAG 1
     time 179.46   tot 179.46
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir NORTH  loc 811,815  DistToNext 0.000000
    Speed 2, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move BACK_SAIL   dir NORTH_EAST  loc 811,815  DistToNext 59.396969
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move STBD_TURN   dir NORTH_EAST  loc 811,815  DistToNext 59.396969
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 3]     qtv    move FORWARD   dir NORTH_EAST  loc 853,857  DistToNext 0.000000
    Speed 2, FLAG 1
     time 53.46   tot 53.46
   [ 4]     qtv    move STBD_TURN   dir EAST  loc 853,857  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot 53.46
   [ 5]     qtv    move FORWARD   dir EAST  loc 913,857  DistToNext 0.000000
    Speed 1, FLAG 1
     time 108.00   tot 161.46
   [ 6]     qtv    move STBD_TURN   dir SOUTH_EAST  loc 913,857  DistToNext 8.485281
    Speed 0, FLAG 1
     time  0.00   tot 161.46
   [ 7]     qtv    move FORWARD   dir SOUTH_EAST  loc 919,851  DistToNext 41.012192
    Speed 1, FLAG 1
     time 15.27   tot 176.73
   [ 8]     qtv    move FORWARD   dir SOUTH_EAST  loc 948,822  DistToNext 0.000000
    Speed 1, FLAG 2
     time 73.82   tot 250.55
   [ 9]     qtv    move NO_DIRECTION   dir SOUTH_EAST  loc 948,822  DistToNext 19.798990
    Speed 0, FLAG 1
     time  0.00   tot 250.55
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir WEST  loc 876,540  DistToNext 0.000000
    Speed 2, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move STBD_TURN   dir NORTH_WEST  loc 876,540  DistToNext 59.396969
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move FORWARD   dir NORTH_WEST  loc 834,582  DistToNext 0.000000
    Speed 4, FLAG 1
     time 26.73   tot 26.73
   [ 3]     qtv    move STBD_TURN   dir NORTH  loc 834,582  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot 26.73
   [ 4]     qtv    move FORWARD   dir NORTH  loc 834,642  DistToNext 0.000000
    Speed 3, FLAG 1
     time 36.00   tot 62.73
   [ 5]     qtv    move STBD_TURN   dir NORTH_EAST  loc 834,642  DistToNext 118.793938
    Speed 0, FLAG 1
     time  0.00   tot 62.73
   [ 6]     qtv    move FORWARD   dir NORTH_EAST  loc 918,726  DistToNext 0.000000
    Speed 4, FLAG 1
     time 53.46   tot 116.18
   [ 7]     qtv    move STBD_TURN   dir EAST  loc 918,726  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot 116.18
   [ 8]     qtv    move FORWARD   dir EAST  loc 978,726  DistToNext 0.000000
    Speed 2, FLAG 1
     time 54.00   tot 170.18
   [ 9]     qtv    move STBD_TURN   dir SOUTH_EAST  loc 978,726  DistToNext 60.811184
    Speed 2, FLAG 1
     time  0.00   tot 170.18
   [10]     qtv    move FORWARD   dir SOUTH_EAST  loc 1021,683  DistToNext 0.000000
    Speed 1, FLAG 1
     time 109.46   tot 279.64
   [11]     qtv    move STBD_TURN   dir SOUTH  loc 1021,683  DistToNext 0.000000
    Speed 1, FLAG 1
     time  0.00   tot 279.64
   [12]     qtv    move STBD_TURN   dir SOUTH_WEST  loc 1021,683  DistToNext 60.811184
    Speed 0, FLAG 1
     time  0.00   tot 279.64
   [13]     qtv    move FORWARD   dir SOUTH_WEST  loc 978,640  DistToNext 0.000000
    Speed 1, FLAG 1
     time 109.46   tot 389.10
   [14]     qtv    move STBD_TURN   dir WEST  loc 978,640  DistToNext 70.000000
    Speed 1, FLAG 1
     time  0.00   tot 389.10
   [15]     qtv    move FORWARD   dir WEST  loc 908,640  DistToNext 0.000000
    Speed 2, FLAG 1
     time 63.00   tot 452.10
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir NORTH_EAST  loc 1715,-143  DistToNext 50.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir NORTH_EAST  loc 1715,-93  DistToNext 0.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
   [ 2]     qtv    move STBD_TURN   dir EAST  loc 1715,-93  DistToNext 50.000000
    Speed 0, FLAG 1
     time  0.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir SOUTH_WEST  loc 854,567  DistToNext 0.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move STBD_TURN   dir WEST  loc 854,567  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move FORWARD   dir WEST  loc 794,567  DistToNext 0.000000
    Speed 1, FLAG 1
     time 108.00   tot 108.00
   [ 3]     qtv    move STBD_TURN   dir NORTH_WEST  loc 794,567  DistToNext 39.597980
    Speed 0, FLAG 1
     time  0.00   tot 108.00
   [ 4]     qtv    move FORWARD   dir NORTH_WEST  loc 766,595  DistToNext 19.798990
    Speed 1, FLAG 1
     time 71.28   tot 179.27
   [ 5]     qtv    move FORWARD   dir NORTH_WEST  loc 780,581  DistToNext 0.000000
    Speed 1, FLAG 2
     time 35.64   tot 214.91
  End Path <===
* ==> Start Path
   [ 0]     qtv    move PORT_TURN   dir WEST  loc 920,513  DistToNext 50.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir WEST  loc 920,563  DistToNext 0.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
   [ 2]     qtv    move STBD_TURN   dir NORTH_WEST  loc 920,563  DistToNext 50.000000
    Speed 0, FLAG 1
     time  0.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move PORT_TURN   dir SOUTH_WEST  loc 1985,-1075  DistToNext 50.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir SOUTH_WEST  loc 1985,-1025  DistToNext 50.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir NORTH_WEST  loc 741,698  DistToNext 50.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir NORTH_WEST  loc 741,748  DistToNext 0.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
   [ 2]     qtv    move PORT_TURN   dir WEST  loc 741,748  DistToNext 50.000000
    Speed 0, FLAG 1
     time  0.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir SOUTH_WEST  loc 1304,265  DistToNext 50.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir SOUTH_WEST  loc 1304,315  DistToNext 50.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir SOUTH_WEST  loc 1543,-334  DistToNext 0.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move STBD_TURN   dir WEST  loc 1543,-334  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move FORWARD   dir WEST  loc 1483,-334  DistToNext 0.000000
    Speed 1, FLAG 1
     time 108.00   tot 108.00
   [ 3]     qtv    move STBD_TURN   dir NORTH_WEST  loc 1483,-334  DistToNext 39.597980
    Speed 0, FLAG 1
     time  0.00   tot 108.00
   [ 4]     qtv    move FORWARD   dir NORTH_WEST  loc 1455,-306  DistToNext 19.798990
    Speed 1, FLAG 1
     time 71.28   tot 179.27
   [ 5]     qtv    move FORWARD   dir NORTH_WEST  loc 1469,-320  DistToNext 0.000000
    Speed 1, FLAG 2
     time 35.64   tot 214.91
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir WEST  loc 1386,332  DistToNext 0.000000
    Speed 2, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move STBD_TURN   dir NORTH_WEST  loc 1386,332  DistToNext 299.813263
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move FORWARD   dir NORTH_WEST  loc 1174,544  DistToNext 0.000000
    Speed 3, FLAG 1
     time 179.89   tot 179.89
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir NORTH_WEST  loc 1532,126  DistToNext 299.813263
    Speed 3, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir NORTH_WEST  loc 1320,338  DistToNext 0.000000
    Speed 3, FLAG 1
     time 179.89   tot 179.89
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir SOUTH  loc 892,607  DistToNext 50.000000
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir SOUTH  loc 892,657  DistToNext 0.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
   [ 2]     qtv    move PORT_TURN   dir SOUTH_EAST  loc 892,657  DistToNext 50.000000
    Speed 0, FLAG 1
     time  0.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir NORTH  loc 667,811  DistToNext 0.000000
    Speed 4, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move STBD_TURN   dir NORTH_EAST  loc 667,811  DistToNext 39.597980
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move FORWARD   dir NORTH_EAST  loc 695,839  DistToNext 0.000000
    Speed 5, FLAG 1
     time 14.26   tot 14.26
   [ 3]     qtv    move STBD_TURN   dir EAST  loc 695,839  DistToNext 40.000000
    Speed 0, FLAG 1
     time  0.00   tot 14.26
   [ 4]     qtv    move FORWARD   dir EAST  loc 735,839  DistToNext 0.000000
    Speed 3, FLAG 1
     time 24.00   tot 38.25
   [ 5]     qtv    move STBD_TURN   dir SOUTH_EAST  loc 735,839  DistToNext 41.012192
    Speed 0, FLAG 1
     time  0.00   tot 38.25
   [ 6]     qtv    move FORWARD   dir SOUTH_EAST  loc 764,810  DistToNext 0.000000
    Speed 1, FLAG 1
     time 73.82   tot 112.08
   [ 7]     qtv    move STBD_TURN   dir SOUTH  loc 764,810  DistToNext 40.000000
    Speed 1, FLAG 1
     time  0.00   tot 112.08
   [ 8]     qtv    move FORWARD   dir SOUTH  loc 764,770  DistToNext 0.000000
    Speed 1, FLAG 1
     time 72.00   tot 184.08
   [ 9]     qtv    move STBD_TURN   dir SOUTH_WEST  loc 764,770  DistToNext 0.000000
    Speed 1, FLAG 1
     time  0.00   tot 184.08
   [10]     qtv    move STBD_TURN   dir WEST  loc 764,770  DistToNext 40.000000
    Speed 0, FLAG 1
     time  0.00   tot 184.08
   [11]     qtv    move FORWARD   dir WEST  loc 724,770  DistToNext 0.000000
    Speed 3, FLAG 1
     time 24.00   tot 208.08
   [12]     qtv    move STBD_TURN   dir NORTH_WEST  loc 724,770  DistToNext 39.597980
    Speed 3, FLAG 1
     time  0.00   tot 208.08
   [13]     qtv    move FORWARD   dir NORTH_WEST  loc 696,798  DistToNext 0.000000
    Speed 5, FLAG 1
     time 14.26   tot 222.33
   [14]     qtv    move PORT_TURN   dir WEST  loc 696,798  DistToNext 40.000000
    Speed 0, FLAG 1
     time  0.00   tot 222.33
   [15]     qtv    move FORWARD   dir WEST  loc 656,798  DistToNext 0.000000
    Speed 3, FLAG 1
     time 24.00   tot 246.33
   [16]     qtv    move PORT_TURN   dir SOUTH_WEST  loc 656,798  DistToNext 41.012192
    Speed 3, FLAG 1
     time  0.00   tot 246.33
   [17]     qtv    move FORWARD   dir SOUTH_WEST  loc 627,769  DistToNext 0.000000
    Speed 1, FLAG 1
     time 73.82   tot 320.15
   [18]     qtv    move PORT_TURN   dir SOUTH  loc 627,769  DistToNext 0.000000
    Speed 1, FLAG 1
     time  0.00   tot 320.15
   [19]     qtv    move PORT_TURN   dir SOUTH_EAST  loc 627,769  DistToNext 41.012192
    Speed 0, FLAG 1
     time  0.00   tot 320.15
   [20]     qtv    move FORWARD   dir SOUTH_EAST  loc 656,740  DistToNext 0.000000
    Speed 1, FLAG 1
     time 73.82   tot 393.97
   [21]     qtv    move STBD_TURN   dir SOUTH  loc 656,740  DistToNext -59.437881
    Speed 1, FLAG 1
     time  0.00   tot 393.97
   [22]     qtv    move FORWARD   dir SOUTH  loc 656,681  DistToNext -59.437881
    Speed -1, FLAG 1
     time -213.98   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move PORT_TURN   dir EAST  loc 1919,-310  DistToNext 50.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir EAST  loc 1919,-260  DistToNext 0.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
   [ 2]     qtv    move PORT_TURN   dir NORTH_EAST  loc 1919,-260  DistToNext 50.000000
    Speed 0, FLAG 1
     time  0.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move PORT_TURN   dir NORTH_EAST  loc 2126,-264  DistToNext 50.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir NORTH_EAST  loc 2126,-214  DistToNext 0.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
   [ 2]     qtv    move STBD_TURN   dir EAST  loc 2126,-214  DistToNext 50.000000
    Speed 0, FLAG 1
     time  0.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir SOUTH_EAST  loc 1292,300  DistToNext 50.000000
    Speed 2, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir SOUTH_EAST  loc 1292,350  DistToNext 50.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir SOUTH_EAST  loc 919,851  DistToNext 98.994949
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir SOUTH_EAST  loc 989,781  DistToNext 0.000000
    Speed 1, FLAG 1
     time 178.19   tot 178.19
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir NORTH_WEST  loc 786,679  DistToNext 0.000000
    Speed 4, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move STBD_TURN   dir NORTH  loc 786,679  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move FORWARD   dir NORTH  loc 786,739  DistToNext 0.000000
    Speed 3, FLAG 1
     time 36.00   tot 36.00
   [ 3]     qtv    move STBD_TURN   dir NORTH_EAST  loc 786,739  DistToNext 59.396969
    Speed 0, FLAG 1
     time  0.00   tot 36.00
   [ 4]     qtv    move FORWARD   dir NORTH_EAST  loc 828,781  DistToNext 0.000000
    Speed 4, FLAG 1
     time 26.73   tot 62.73
   [ 5]     qtv    move STBD_TURN   dir EAST  loc 828,781  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot 62.73
   [ 6]     qtv    move FORWARD   dir EAST  loc 888,781  DistToNext 0.000000
    Speed 2, FLAG 1
     time 54.00   tot 116.73
   [ 7]     qtv    move STBD_TURN   dir SOUTH_EAST  loc 888,781  DistToNext 60.811184
    Speed 0, FLAG 1
     time  0.00   tot 116.73
   [ 8]     qtv    move FORWARD   dir SOUTH_EAST  loc 931,738  DistToNext 0.000000
    Speed 1, FLAG 1
     time 109.46   tot 226.19
   [ 9]     qtv    move STBD_TURN   dir SOUTH  loc 931,738  DistToNext 60.000000
    Speed 1, FLAG 1
     time  0.00   tot 226.19
   [10]     qtv    move FORWARD   dir SOUTH  loc 931,678  DistToNext 0.000000
    Speed 1, FLAG 1
     time 108.00   tot 334.19
   [11]     qtv    move STBD_TURN   dir SOUTH_WEST  loc 931,678  DistToNext 0.000000
    Speed 1, FLAG 1
     time  0.00   tot 334.19
   [12]     qtv    move STBD_TURN   dir WEST  loc 931,678  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot 334.19
   [13]     qtv    move FORWARD   dir WEST  loc 871,678  DistToNext 0.000000
    Speed 2, FLAG 1
     time 54.00   tot 388.19
   [14]     qtv    move STBD_TURN   dir NORTH_WEST  loc 871,678  DistToNext 59.396969
    Speed 2, FLAG 1
     time  0.00   tot 388.19
   [15]     qtv    move FORWARD   dir NORTH_WEST  loc 829,720  DistToNext 0.000000
    Speed 4, FLAG 1
     time 26.73   tot 414.91
   [16]     qtv    move PORT_TURN   dir WEST  loc 829,720  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot 414.91
   [17]     qtv    move FORWARD   dir WEST  loc 769,720  DistToNext 0.000000
    Speed 2, FLAG 1
     time 54.00   tot 468.91
   [18]     qtv    move PORT_TURN   dir SOUTH_WEST  loc 769,720  DistToNext 60.811184
    Speed 2, FLAG 1
     time  0.00   tot 468.91
   [19]     qtv    move FORWARD   dir SOUTH_WEST  loc 726,677  DistToNext 0.000000
    Speed 1, FLAG 1
     time 109.46   tot 578.37
   [20]     qtv    move PORT_TURN   dir SOUTH  loc 726,677  DistToNext 0.000000
    Speed 1, FLAG 1
     time  0.00   tot 578.37
   [21]     qtv    move PORT_TURN   dir SOUTH_EAST  loc 726,677  DistToNext 60.811184
    Speed 0, FLAG 1
     time  0.00   tot 578.37
   [22]     qtv    move FORWARD   dir SOUTH_EAST  loc 769,634  DistToNext 0.000000
    Speed 1, FLAG 1
     time 109.46   tot 687.83
   [23]     qtv    move STBD_TURN   dir SOUTH  loc 769,634  DistToNext -141.066010
    Speed 1, FLAG 1
     time  0.00   tot 687.83
   [24]     qtv    move FORWARD   dir SOUTH  loc 769,493  DistToNext 0.000000
    Speed -1, FLAG 1
     time -507.84   tot 179.99
   [25]     qtv    move PORT_TURN   dir SOUTH_EAST  loc 769,493  DistToNext -141.066010
    Speed 0, FLAG 1
     time  0.00   tot 179.99
  End Path <===
* ==> Start Path
   [ 0]     qtv    move STBD_TURN   dir EAST  loc 1715,-93  DistToNext 50.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir EAST  loc 1715,-43  DistToNext 0.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
   [ 2]     qtv    move STBD_TURN   dir SOUTH_EAST  loc 1715,-43  DistToNext 50.000000
    Speed 0, FLAG 1
     time  0.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir WEST  loc 852,704  DistToNext 0.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move BACK_SAIL   dir NORTH_WEST  loc 852,704  DistToNext 59.396969
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move STBD_TURN   dir NORTH_WEST  loc 852,704  DistToNext 59.396969
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 3]     qtv    move FORWARD   dir NORTH_WEST  loc 810,746  DistToNext 0.000000
    Speed 1, FLAG 1
     time 106.91   tot 106.91
   [ 4]     qtv    move STBD_TURN   dir NORTH  loc 810,746  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot 106.91
   [ 5]     qtv    move FORWARD   dir NORTH  loc 810,806  DistToNext 19.000000
    Speed 1, FLAG 1
     time 108.00   tot 214.91
   [ 6]     qtv    move FORWARD   dir NORTH  loc 810,825  DistToNext 0.000000
    Speed 1, FLAG 2
     time 34.20   tot 249.11
   [ 7]     qtv    move NO_DIRECTION   dir NORTH  loc 810,825  DistToNext 21.000000
    Speed 0, FLAG 1
     time  0.00   tot 249.11
  End Path <===
* ==> Start Path
   [ 0]     qtv    move STBD_TURN   dir NORTH_WEST  loc 920,563  DistToNext 50.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir NORTH_WEST  loc 920,613  DistToNext 50.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir SOUTH_WEST  loc 1985,-1025  DistToNext 50.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir SOUTH_WEST  loc 1985,-975  DistToNext 0.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
   [ 2]     qtv    move STBD_TURN   dir WEST  loc 1985,-975  DistToNext 50.000000
    Speed 0, FLAG 1
     time  0.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move PORT_TURN   dir WEST  loc 741,748  DistToNext 50.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir WEST  loc 741,798  DistToNext 0.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
   [ 2]     qtv    move PORT_TURN   dir SOUTH_WEST  loc 741,798  DistToNext 50.000000
    Speed 0, FLAG 1
     time  0.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir SOUTH_WEST  loc 1304,313  DistToNext 0.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move STBD_TURN   dir WEST  loc 1304,313  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move FORWARD   dir WEST  loc 1244,313  DistToNext 0.000000
    Speed 1, FLAG 1
     time 108.00   tot 108.00
   [ 3]     qtv    move STBD_TURN   dir NORTH_WEST  loc 1244,313  DistToNext 79.195961
    Speed 0, FLAG 1
     time  0.00   tot 108.00
   [ 4]     qtv    move FORWARD   dir NORTH_WEST  loc 1188,369  DistToNext 0.000000
    Speed 2, FLAG 1
     time 71.28   tot 179.27
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir NORTH_WEST  loc 1455,-306  DistToNext 0.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move STBD_TURN   dir NORTH  loc 1455,-306  DistToNext 100.000000
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move FORWARD   dir NORTH  loc 1455,-206  DistToNext 0.000000
    Speed 1, FLAG 1
     time 180.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir NORTH_WEST  loc 1174,544  DistToNext 0.000000
    Speed 3, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move STBD_TURN   dir NORTH  loc 1174,544  DistToNext 140.000000
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move FORWARD   dir NORTH  loc 1174,684  DistToNext 0.000000
    Speed 2, FLAG 1
     time 126.00   tot 126.00
   [ 3]     qtv    move STBD_TURN   dir NORTH_EAST  loc 1174,684  DistToNext 89.095451
    Speed 0, FLAG 1
     time  0.00   tot 126.00
   [ 4]     qtv    move FORWARD   dir NORTH_EAST  loc 1237,747  DistToNext 39.597980
    Speed 3, FLAG 1
     time 53.46   tot 179.46
   [ 5]     qtv    move FORWARD   dir NORTH_EAST  loc 1209,719  DistToNext 0.000000
    Speed 3, FLAG 2
     time 23.76   tot 203.21
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir NORTH_WEST  loc 1320,338  DistToNext 0.000000
    Speed 3, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move PORT_TURN   dir WEST  loc 1320,338  DistToNext 100.000000
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move FORWARD   dir WEST  loc 1220,338  DistToNext 0.000000
    Speed 1, FLAG 1
     time 180.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move PORT_TURN   dir SOUTH_EAST  loc 892,657  DistToNext 39.597980
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir SOUTH_EAST  loc 920,629  DistToNext 0.000000
    Speed 1, FLAG 1
     time 71.28   tot 71.28
   [ 2]     qtv    move PORT_TURN   dir EAST  loc 920,629  DistToNext 120.000000
    Speed 0, FLAG 1
     time  0.00   tot 71.28
   [ 3]     qtv    move FORWARD   dir EAST  loc 1040,629  DistToNext 0.000000
    Speed 2, FLAG 1
     time 108.00   tot 179.27
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir SOUTH  loc 674,874  DistToNext 50.000000
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir SOUTH  loc 674,924  DistToNext 0.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
   [ 2]     qtv    move PORT_TURN   dir SOUTH_EAST  loc 674,924  DistToNext 50.000000
    Speed 0, FLAG 1
     time  0.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move PORT_TURN   dir NORTH_EAST  loc 1919,-260  DistToNext 50.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir NORTH_EAST  loc 1919,-210  DistToNext 0.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
   [ 2]     qtv    move PORT_TURN   dir NORTH  loc 1919,-210  DistToNext 50.000000
    Speed 0, FLAG 1
     time  0.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move STBD_TURN   dir EAST  loc 2126,-214  DistToNext 50.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir EAST  loc 2126,-164  DistToNext 0.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
   [ 2]     qtv    move STBD_TURN   dir SOUTH_EAST  loc 2126,-164  DistToNext 50.000000
    Speed 0, FLAG 1
     time  0.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir SOUTH_EAST  loc 1202,439  DistToNext 0.000000
    Speed 2, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move PORT_TURN   dir EAST  loc 1202,439  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move FORWARD   dir EAST  loc 1262,439  DistToNext 0.000000
    Speed 3, FLAG 1
     time 36.00   tot 36.00
   [ 3]     qtv    move PORT_TURN   dir NORTH_EAST  loc 1262,439  DistToNext 59.396969
    Speed 0, FLAG 1
     time  0.00   tot 36.00
   [ 4]     qtv    move FORWARD   dir NORTH_EAST  loc 1304,481  DistToNext 0.000000
    Speed 5, FLAG 1
     time 21.38   tot 57.38
   [ 5]     qtv    move PORT_TURN   dir NORTH  loc 1304,481  DistToNext 272.000000
    Speed 0, FLAG 1
     time  0.00   tot 57.38
   [ 6]     qtv    move FORWARD   dir NORTH  loc 1304,753  DistToNext 0.000000
    Speed 4, FLAG 1
     time 122.40   tot 179.78
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir SOUTH_EAST  loc 989,781  DistToNext 59.396969
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir SOUTH_EAST  loc 1031,739  DistToNext 0.000000
    Speed 1, FLAG 1
     time 106.91   tot 106.91
   [ 2]     qtv    move PORT_TURN   dir EAST  loc 1031,739  DistToNext 40.000000
    Speed 0, FLAG 1
     time  0.00   tot 106.91
   [ 3]     qtv    move FORWARD   dir EAST  loc 1071,739  DistToNext 21.000000
    Speed 1, FLAG 1
     time 72.00   tot 178.91
   [ 4]     qtv    move FORWARD   dir EAST  loc 1050,739  DistToNext 0.000000
    Speed 1, FLAG 2
     time 37.80   tot 216.71
  End Path <===
* ==> Start Path
   [ 0]     qtv    move PORT_TURN   dir SOUTH_EAST  loc 769,493  DistToNext 59.396969
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir SOUTH_EAST  loc 811,451  DistToNext 0.000000
    Speed 1, FLAG 1
     time 106.91   tot 106.91
   [ 2]     qtv    move PORT_TURN   dir EAST  loc 811,451  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot 106.91
   [ 3]     qtv    move FORWARD   dir EAST  loc 871,451  DistToNext 0.000000
    Speed 2, FLAG 1
     time 54.00   tot 160.91
   [ 4]     qtv    move PORT_TURN   dir NORTH_EAST  loc 871,451  DistToNext 39.597980
    Speed 0, FLAG 1
     time  0.00   tot 160.91
   [ 5]     qtv    move FORWARD   dir NORTH_EAST  loc 899,479  DistToNext 19.798990
    Speed 4, FLAG 1
     time 17.82   tot 178.73
   [ 6]     qtv    move FORWARD   dir NORTH_EAST  loc 885,465  DistToNext 0.000000
    Speed 4, FLAG 2
     time  8.91   tot 187.64
  End Path <===
* ==> Start Path
   [ 0]     qtv    move STBD_TURN   dir SOUTH_EAST  loc 1715,-43  DistToNext 50.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir SOUTH_EAST  loc 1715,7  DistToNext 0.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
   [ 2]     qtv    move PORT_TURN   dir EAST  loc 1715,7  DistToNext 50.000000
    Speed 0, FLAG 1
     time  0.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir NORTH  loc 810,806  DistToNext 0.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move STBD_TURN   dir NORTH_EAST  loc 810,806  DistToNext 59.396969
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move FORWARD   dir NORTH_EAST  loc 852,848  DistToNext 0.000000
    Speed 1, FLAG 1
     time 106.91   tot 106.91
   [ 3]     qtv    move STBD_TURN   dir EAST  loc 852,848  DistToNext 40.000000
    Speed 0, FLAG 1
     time  0.00   tot 106.91
   [ 4]     qtv    move FORWARD   dir EAST  loc 892,848  DistToNext 21.000000
    Speed 1, FLAG 1
     time 72.00   tot 178.91
   [ 5]     qtv    move FORWARD   dir EAST  loc 871,848  DistToNext 0.000000
    Speed 1, FLAG 2
     time 37.80   tot 216.71
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir NORTH_WEST  loc 920,613  DistToNext 50.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir NORTH_WEST  loc 920,663  DistToNext 0.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
   [ 2]     qtv    move STBD_TURN   dir NORTH  loc 920,663  DistToNext 50.000000
    Speed 0, FLAG 1
     time  0.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move STBD_TURN   dir WEST  loc 1985,-975  DistToNext 50.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir WEST  loc 1985,-925  DistToNext 0.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
   [ 2]     qtv    move PORT_TURN   dir SOUTH_WEST  loc 1985,-925  DistToNext 50.000000
    Speed 0, FLAG 1
     time  0.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move PORT_TURN   dir SOUTH_WEST  loc 741,798  DistToNext 50.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir SOUTH_WEST  loc 741,848  DistToNext 0.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
   [ 2]     qtv    move STBD_TURN   dir WEST  loc 741,848  DistToNext 50.000000
    Speed 0, FLAG 1
     time  0.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir WEST  loc 1304,361  DistToNext 50.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir WEST  loc 1304,411  DistToNext 50.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir NORTH  loc 1455,-206  DistToNext 50.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir NORTH  loc 1455,-156  DistToNext 0.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
   [ 2]     qtv    move PORT_TURN   dir NORTH_WEST  loc 1455,-156  DistToNext 50.000000
    Speed 0, FLAG 1
     time  0.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir NORTH_EAST  loc 1237,747  DistToNext 0.000000
    Speed 3, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move STBD_TURN   dir EAST  loc 1237,747  DistToNext 200.000000
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move FORWARD   dir EAST  loc 1437,747  DistToNext 0.000000
    Speed 2, FLAG 1
     time 180.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir WEST  loc 1320,387  DistToNext 50.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir WEST  loc 1320,437  DistToNext 50.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir EAST  loc 1040,629  DistToNext 0.000000
    Speed 2, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move PORT_TURN   dir NORTH_EAST  loc 1040,629  DistToNext 299.813263
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move FORWARD   dir NORTH_EAST  loc 1252,841  DistToNext 0.000000
    Speed 3, FLAG 1
     time 179.89   tot 179.89
  End Path <===
* ==> Start Path
   [ 0]     qtv    move PORT_TURN   dir SOUTH_EAST  loc 674,924  DistToNext 39.597980
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir SOUTH_EAST  loc 702,896  DistToNext 0.000000
    Speed 1, FLAG 1
     time 71.28   tot 71.28
   [ 2]     qtv    move PORT_TURN   dir EAST  loc 702,896  DistToNext 180.000000
    Speed 0, FLAG 1
     time  0.00   tot 71.28
   [ 3]     qtv    move FORWARD   dir EAST  loc 882,896  DistToNext 0.000000
    Speed 3, FLAG 1
     time 108.00   tot 179.27
  End Path <===
* ==> Start Path
   [ 0]     qtv    move PORT_TURN   dir NORTH  loc 1919,-210  DistToNext 50.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir NORTH  loc 1919,-160  DistToNext 0.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
   [ 2]     qtv    move PORT_TURN   dir NORTH_WEST  loc 1919,-160  DistToNext 50.000000
    Speed 0, FLAG 1
     time  0.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move STBD_TURN   dir SOUTH_EAST  loc 2126,-164  DistToNext 50.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir SOUTH_EAST  loc 2126,-114  DistToNext 50.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir NORTH  loc 1304,753  DistToNext 0.000000
    Speed 4, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move PORT_TURN   dir NORTH_WEST  loc 1304,753  DistToNext 59.396969
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move FORWARD   dir NORTH_WEST  loc 1262,795  DistToNext 0.000000
    Speed 5, FLAG 1
     time 21.38   tot 21.38
   [ 3]     qtv    move PORT_TURN   dir WEST  loc 1262,795  DistToNext 264.000000
    Speed 0, FLAG 1
     time  0.00   tot 21.38
   [ 4]     qtv    move FORWARD   dir WEST  loc 998,795  DistToNext 0.000000
    Speed 3, FLAG 1
     time 158.40   tot 179.78
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir EAST  loc 1071,739  DistToNext 100.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move BACK_SAIL   dir EAST  loc 1171,739  DistToNext 0.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move FORWARD   dir EAST  loc 1171,739  DistToNext 0.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 3]     qtv    move NO_DIRECTION   dir EAST  loc 1171,739  DistToNext 0.000000
    Speed 0, FLAG 1
     time  0.00   tot  0.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move PORT_TURN   dir NORTH_EAST  loc 899,479  DistToNext 59.396969
    Speed 4, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir NORTH_EAST  loc 941,521  DistToNext 0.000000
    Speed 4, FLAG 1
     time 26.73   tot 26.73
   [ 2]     qtv    move STBD_TURN   dir EAST  loc 941,521  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot 26.73
   [ 3]     qtv    move FORWARD   dir EAST  loc 1001,521  DistToNext 0.000000
    Speed 2, FLAG 1
     time 54.00   tot 80.73
   [ 4]     qtv    move STBD_TURN   dir SOUTH_EAST  loc 1001,521  DistToNext 53.740116
    Speed 0, FLAG 1
     time  0.00   tot 80.73
   [ 5]     qtv    move FORWARD   dir SOUTH_EAST  loc 1039,483  DistToNext 49.497475
    Speed 1, FLAG 1
     time 96.73   tot 177.46
   [ 6]     qtv    move FORWARD   dir SOUTH_EAST  loc 1004,518  DistToNext 0.000000
    Speed 1, FLAG 2
     time 89.09   tot 266.55
  End Path <===
* ==> Start Path
   [ 0]     qtv    move PORT_TURN   dir EAST  loc 1715,7  DistToNext 50.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir EAST  loc 1715,57  DistToNext 0.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
   [ 2]     qtv    move STBD_TURN   dir SOUTH_EAST  loc 1715,57  DistToNext 50.000000
    Speed 0, FLAG 1
     time  0.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir EAST  loc 892,848  DistToNext 100.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir EAST  loc 992,848  DistToNext 0.000000
    Speed 1, FLAG 1
     time 180.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move STBD_TURN   dir NORTH  loc 920,663  DistToNext 50.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir NORTH  loc 920,713  DistToNext 0.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
   [ 2]     qtv    move STBD_TURN   dir NORTH_EAST  loc 920,713  DistToNext 50.000000
    Speed 0, FLAG 1
     time  0.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move PORT_TURN   dir SOUTH_WEST  loc 1985,-925  DistToNext 50.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir SOUTH_WEST  loc 1985,-875  DistToNext 50.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move STBD_TURN   dir WEST  loc 741,848  DistToNext 50.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir WEST  loc 741,898  DistToNext 0.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
   [ 2]     qtv    move STBD_TURN   dir NORTH_WEST  loc 741,898  DistToNext 50.000000
    Speed 0, FLAG 1
     time  0.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir WEST  loc 1304,409  DistToNext 100.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir WEST  loc 1204,409  DistToNext 0.000000
    Speed 1, FLAG 1
     time 180.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move PORT_TURN   dir NORTH_WEST  loc 1455,-156  DistToNext 50.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir NORTH_WEST  loc 1455,-106  DistToNext 0.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
   [ 2]     qtv    move PORT_TURN   dir WEST  loc 1455,-106  DistToNext 50.000000
    Speed 0, FLAG 1
     time  0.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir EAST  loc 1437,747  DistToNext 0.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move PORT_TURN   dir NORTH_EAST  loc 1437,747  DistToNext 138.592926
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move FORWARD   dir NORTH_EAST  loc 1535,845  DistToNext 0.000000
    Speed 3, FLAG 1
     time 83.16   tot 83.16
   [ 3]     qtv    move PORT_TURN   dir NORTH  loc 1535,845  DistToNext 106.000000
    Speed 0, FLAG 1
     time  0.00   tot 83.16
   [ 4]     qtv    move FORWARD   dir NORTH  loc 1535,951  DistToNext 73.000000
    Speed 2, FLAG 1
     time 95.40   tot 178.55
   [ 5]     qtv    move FORWARD   dir NORTH  loc 1535,878  DistToNext 0.000000
    Speed 2, FLAG 2
     time 65.70   tot 244.25
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir WEST  loc 1230,525  DistToNext 100.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir WEST  loc 1130,525  DistToNext 0.000000
    Speed 1, FLAG 1
     time 180.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir NORTH_EAST  loc 1123,741  DistToNext 0.000000
    Speed 3, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move STBD_TURN   dir EAST  loc 1123,741  DistToNext 40.000000
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move FORWARD   dir EAST  loc 1163,741  DistToNext 0.000000
    Speed 2, FLAG 1
     time 36.00   tot 36.00
   [ 3]     qtv    move STBD_TURN   dir SOUTH_EAST  loc 1163,741  DistToNext 79.195961
    Speed 0, FLAG 1
     time  0.00   tot 36.00
   [ 4]     qtv    move FORWARD   dir SOUTH_EAST  loc 1219,685  DistToNext 0.000000
    Speed 1, FLAG 1
     time 142.55   tot 178.55
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir EAST  loc 882,896  DistToNext 0.000000
    Speed 3, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move STBD_TURN   dir SOUTH_EAST  loc 882,896  DistToNext 41.012192
    Speed 3, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move FORWARD   dir SOUTH_EAST  loc 911,867  DistToNext 0.000000
    Speed 1, FLAG 1
     time 73.82   tot 73.82
   [ 3]     qtv    move STBD_TURN   dir SOUTH  loc 911,867  DistToNext 40.000000
    Speed 1, FLAG 1
     time  0.00   tot 73.82
   [ 4]     qtv    move FORWARD   dir SOUTH  loc 911,827  DistToNext 0.000000
    Speed 1, FLAG 1
     time 72.00   tot 145.82
   [ 5]     qtv    move STBD_TURN   dir SOUTH_WEST  loc 911,827  DistToNext 0.000000
    Speed 1, FLAG 1
     time  0.00   tot 145.82
   [ 6]     qtv    move STBD_TURN   dir WEST  loc 911,827  DistToNext 40.000000
    Speed 0, FLAG 1
     time  0.00   tot 145.82
   [ 7]     qtv    move FORWARD   dir WEST  loc 871,827  DistToNext 0.000000
    Speed 3, FLAG 1
     time 24.00   tot 169.82
   [ 8]     qtv    move STBD_TURN   dir NORTH_WEST  loc 871,827  DistToNext 26.870058
    Speed 3, FLAG 1
     time  0.00   tot 169.82
   [ 9]     qtv    move FORWARD   dir NORTH_WEST  loc 852,846  DistToNext 15.556349
    Speed 5, FLAG 1
     time  9.67   tot 179.49
   [10]     qtv    move FORWARD   dir NORTH_WEST  loc 863,835  DistToNext 0.000000
    Speed 5, FLAG 2
     time  5.60   tot 185.09
  End Path <===
* ==> Start Path
   [ 0]     qtv    move PORT_TURN   dir NORTH_WEST  loc 1919,-160  DistToNext 50.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir NORTH_WEST  loc 1919,-110  DistToNext 0.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
   [ 2]     qtv    move STBD_TURN   dir NORTH  loc 1919,-110  DistToNext 50.000000
    Speed 0, FLAG 1
     time  0.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir SOUTH_EAST  loc 2126,-114  DistToNext 50.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir SOUTH_EAST  loc 2126,-64  DistToNext 0.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
   [ 2]     qtv    move PORT_TURN   dir EAST  loc 2126,-64  DistToNext 50.000000
    Speed 0, FLAG 1
     time  0.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir WEST  loc 998,795  DistToNext 0.000000
    Speed 3, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move PORT_TURN   dir SOUTH_WEST  loc 998,795  DistToNext 118.793938
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move FORWARD   dir SOUTH_WEST  loc 914,711  DistToNext 0.000000
    Speed 2, FLAG 1
     time 106.91   tot 106.91
   [ 3]     qtv    move PORT_TURN   dir SOUTH  loc 914,711  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot 106.91
   [ 4]     qtv    move FORWARD   dir SOUTH  loc 914,651  DistToNext 0.000000
    Speed 0, FLAG 1
     time   inf   tot   inf
   [ 5]     qtv    move PORT_TURN   dir SOUTH_EAST  loc 914,651  DistToNext 60.811184
    Speed 0, FLAG 1
     time  0.00   tot   inf
   [ 6]     qtv    move FORWARD   dir SOUTH_EAST  loc 957,608  DistToNext 0.000000
    Speed 2, FLAG 1
     time 54.73   tot   inf
   [ 7]     qtv    move PORT_TURN   dir EAST  loc 957,608  DistToNext 0.000000
    Speed 2, FLAG 1
     time  0.00   tot   inf
   [ 8]     qtv    move PORT_TURN   dir NORTH_EAST  loc 957,608  DistToNext 60.811184
    Speed 0, FLAG 1
     time  0.00   tot   inf
   [ 9]     qtv    move FORWARD   dir NORTH_EAST  loc 1000,651  DistToNext 0.000000
    Speed 5, FLAG 1
     time 21.89   tot   inf
   [10]     qtv    move STBD_TURN   dir EAST  loc 1000,651  DistToNext 120.000000
    Speed 5, FLAG 1
     time  0.00   tot   inf
   [11]     qtv    move FORWARD   dir EAST  loc 1120,651  DistToNext 0.000000
    Speed 3, FLAG 1
     time 72.00   tot   inf
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir EAST  loc 1109,859  DistToNext 100.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir EAST  loc 1209,859  DistToNext 0.000000
    Speed 1, FLAG 1
     time 180.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move PORT_TURN   dir SOUTH_EAST  loc 1039,483  DistToNext 59.396969
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir SOUTH_EAST  loc 1081,441  DistToNext 0.000000
    Speed 1, FLAG 1
     time 106.91   tot 106.91
   [ 2]     qtv    move PORT_TURN   dir EAST  loc 1081,441  DistToNext 80.000000
    Speed 0, FLAG 1
     time  0.00   tot 106.91
   [ 3]     qtv    move FORWARD   dir EAST  loc 1161,441  DistToNext 0.000000
    Speed 2, FLAG 1
     time 72.00   tot 178.91
  End Path <===
* ==> Start Path
   [ 0]     qtv    move STBD_TURN   dir SOUTH_EAST  loc 1715,57  DistToNext 50.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir SOUTH_EAST  loc 1715,107  DistToNext 50.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir EAST  loc 992,848  DistToNext 0.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move PORT_TURN   dir NORTH_EAST  loc 992,848  DistToNext 59.396969
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move FORWARD   dir NORTH_EAST  loc 1034,890  DistToNext 0.000000
    Speed 1, FLAG 1
     time 106.91   tot 106.91
   [ 3]     qtv    move PORT_TURN   dir NORTH  loc 1034,890  DistToNext 40.000000
    Speed 0, FLAG 1
     time  0.00   tot 106.91
   [ 4]     qtv    move FORWARD   dir NORTH  loc 1034,930  DistToNext 21.000000
    Speed 1, FLAG 1
     time 72.00   tot 178.91
   [ 5]     qtv    move FORWARD   dir NORTH  loc 1034,909  DistToNext 0.000000
    Speed 1, FLAG 2
     time 37.80   tot 216.71
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir NORTH  loc 920,731  DistToNext 50.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir NORTH  loc 920,781  DistToNext 50.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir SOUTH_WEST  loc 1985,-875  DistToNext 50.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir SOUTH_WEST  loc 1985,-825  DistToNext 0.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
   [ 2]     qtv    move STBD_TURN   dir WEST  loc 1985,-825  DistToNext 50.000000
    Speed 0, FLAG 1
     time  0.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move STBD_TURN   dir NORTH_WEST  loc 741,898  DistToNext 50.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir NORTH_WEST  loc 741,948  DistToNext 0.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
   [ 2]     qtv    move PORT_TURN   dir WEST  loc 741,948  DistToNext 50.000000
    Speed 0, FLAG 1
     time  0.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir WEST  loc 1200,424  DistToNext 0.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move STBD_TURN   dir NORTH_WEST  loc 1200,424  DistToNext 199.404114
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move FORWARD   dir NORTH_WEST  loc 1059,565  DistToNext 0.000000
    Speed 2, FLAG 1
     time 179.46   tot 179.46
  End Path <===
* ==> Start Path
   [ 0]     qtv    move PORT_TURN   dir WEST  loc 1455,-106  DistToNext 50.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir WEST  loc 1455,-56  DistToNext 0.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
   [ 2]     qtv    move STBD_TURN   dir NORTH_WEST  loc 1455,-56  DistToNext 50.000000
    Speed 0, FLAG 1
     time  0.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir NORTH  loc 1535,951  DistToNext 0.000000
    Speed 2, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move PORT_TURN   dir NORTH_WEST  loc 1535,951  DistToNext 138.592926
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move FORWARD   dir NORTH_WEST  loc 1437,1049  DistToNext 0.000000
    Speed 3, FLAG 1
     time 83.16   tot 83.16
   [ 3]     qtv    move PORT_TURN   dir WEST  loc 1437,1049  DistToNext 53.000000
    Speed 0, FLAG 1
     time  0.00   tot 83.16
   [ 4]     qtv    move FORWARD   dir WEST  loc 1384,1049  DistToNext 33.000000
    Speed 1, FLAG 1
     time 95.40   tot 178.55
   [ 5]     qtv    move FORWARD   dir WEST  loc 1351,1049  DistToNext 0.000000
    Speed 1, FLAG 2
     time 59.40   tot 237.95
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir WEST  loc 1130,525  DistToNext 100.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move BACK_SAIL   dir WEST  loc 1030,525  DistToNext 0.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move FORWARD   dir WEST  loc 1030,525  DistToNext 0.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 3]     qtv    move NO_DIRECTION   dir WEST  loc 1030,525  DistToNext 0.000000
    Speed 0, FLAG 1
     time  0.00   tot  0.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir SOUTH_EAST  loc 1219,685  DistToNext 0.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move PORT_TURN   dir EAST  loc 1219,685  DistToNext 40.000000
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move FORWARD   dir EAST  loc 1259,685  DistToNext 0.000000
    Speed 2, FLAG 1
     time 36.00   tot 36.00
   [ 3]     qtv    move PORT_TURN   dir NORTH_EAST  loc 1259,685  DistToNext 39.597980
    Speed 0, FLAG 1
     time  0.00   tot 36.00
   [ 4]     qtv    move FORWARD   dir NORTH_EAST  loc 1287,713  DistToNext 0.000000
    Speed 3, FLAG 1
     time 23.76   tot 59.76
   [ 5]     qtv    move PORT_TURN   dir NORTH  loc 1287,713  DistToNext 40.000000
    Speed 0, FLAG 1
     time  0.00   tot 59.76
   [ 6]     qtv    move FORWARD   dir NORTH  loc 1287,753  DistToNext 0.000000
    Speed 3, FLAG 1
     time 24.00   tot 83.76
   [ 7]     qtv    move PORT_TURN   dir NORTH_WEST  loc 1287,753  DistToNext 39.597980
    Speed 0, FLAG 1
     time  0.00   tot 83.76
   [ 8]     qtv    move FORWARD   dir NORTH_WEST  loc 1259,781  DistToNext 0.000000
    Speed 3, FLAG 1
     time 23.76   tot 107.52
   [ 9]     qtv    move PORT_TURN   dir WEST  loc 1259,781  DistToNext 40.000000
    Speed 0, FLAG 1
     time  0.00   tot 107.52
   [10]     qtv    move FORWARD   dir WEST  loc 1219,781  DistToNext 0.000000
    Speed 2, FLAG 1
     time 36.00   tot 143.52
   [11]     qtv    move PORT_TURN   dir SOUTH_WEST  loc 1219,781  DistToNext 19.798990
    Speed 0, FLAG 1
     time  0.00   tot 143.52
   [12]     qtv    move FORWARD   dir SOUTH_WEST  loc 1205,767  DistToNext 0.000000
    Speed 1, FLAG 1
     time 35.64   tot 179.15
   [13]     qtv    move FORWARD   dir SOUTH_WEST  loc 1205,767  DistToNext 0.000000
    Speed 1, FLAG 2
     time  0.00   tot 179.15
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir NORTH_WEST  loc 852,846  DistToNext 0.000000
    Speed 5, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move PORT_TURN   dir WEST  loc 852,846  DistToNext 40.000000
    Speed 5, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move FORWARD   dir WEST  loc 812,846  DistToNext 0.000000
    Speed 3, FLAG 1
     time 24.00   tot 24.00
   [ 3]     qtv    move PORT_TURN   dir SOUTH_WEST  loc 812,846  DistToNext 41.012192
    Speed 3, FLAG 1
     time  0.00   tot 24.00
   [ 4]     qtv    move FORWARD   dir SOUTH_WEST  loc 783,817  DistToNext 0.000000
    Speed 1, FLAG 1
     time 73.82   tot 97.82
   [ 5]     qtv    move PORT_TURN   dir SOUTH  loc 783,817  DistToNext 0.000000
    Speed 1, FLAG 1
     time  0.00   tot 97.82
   [ 6]     qtv    move PORT_TURN   dir SOUTH_EAST  loc 783,817  DistToNext 45.254833
    Speed 0, FLAG 1
     time  0.00   tot 97.82
   [ 7]     qtv    move FORWARD   dir SOUTH_EAST  loc 815,785  DistToNext 31.112698
    Speed 1, FLAG 1
     time 81.46   tot 179.28
   [ 8]     qtv    move FORWARD   dir SOUTH_EAST  loc 837,763  DistToNext 0.000000
    Speed 1, FLAG 2
     time 56.00   tot 235.28
  End Path <===
* ==> Start Path
   [ 0]     qtv    move STBD_TURN   dir NORTH  loc 1919,-110  DistToNext 50.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir NORTH  loc 1919,-60  DistToNext 0.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
   [ 2]     qtv    move PORT_TURN   dir NORTH_WEST  loc 1919,-60  DistToNext 50.000000
    Speed 0, FLAG 1
     time  0.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move PORT_TURN   dir EAST  loc 2126,-64  DistToNext 50.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir EAST  loc 2126,-14  DistToNext 0.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
   [ 2]     qtv    move PORT_TURN   dir NORTH_EAST  loc 2126,-14  DistToNext 50.000000
    Speed 0, FLAG 1
     time  0.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir SOUTH_WEST  loc 945,773  DistToNext 0.000000
    Speed 2, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move STBD_TURN   dir WEST  loc 945,773  DistToNext 0.000000
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move PORT_TURN   dir SOUTH_WEST  loc 945,773  DistToNext 60.811184
    Speed 2, FLAG 1
     time  0.00   tot  0.00
   [ 3]     qtv    move FORWARD   dir SOUTH_WEST  loc 902,730  DistToNext 0.000000
    Speed 2, FLAG 1
     time 54.73   tot 54.73
   [ 4]     qtv    move PORT_TURN   dir SOUTH  loc 902,730  DistToNext 60.000000
    Speed 2, FLAG 1
     time  0.00   tot 54.73
   [ 5]     qtv    move FORWARD   dir SOUTH  loc 902,670  DistToNext 0.000000
    Speed 2, FLAG 1
     time 54.00   tot 108.73
   [ 6]     qtv    move PORT_TURN   dir SOUTH_EAST  loc 902,670  DistToNext 0.000000
    Speed 2, FLAG 1
     time  0.00   tot 108.73
   [ 7]     qtv    move PORT_TURN   dir EAST  loc 902,670  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot 108.73
   [ 8]     qtv    move FORWARD   dir EAST  loc 962,670  DistToNext 0.000000
    Speed 3, FLAG 1
     time 36.00   tot 144.73
   [ 9]     qtv    move PORT_TURN   dir NORTH_EAST  loc 962,670  DistToNext 97.580734
    Speed 3, FLAG 1
     time  0.00   tot 144.73
   [10]     qtv    move FORWARD   dir NORTH_EAST  loc 1031,739  DistToNext 0.000000
    Speed 5, FLAG 1
     time 35.13   tot 179.86
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir EAST  loc 1209,859  DistToNext 100.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir EAST  loc 1309,859  DistToNext 0.000000
    Speed 1, FLAG 1
     time 180.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir EAST  loc 1059,531  DistToNext 200.000000
    Speed 2, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir EAST  loc 1259,531  DistToNext 0.000000
    Speed 2, FLAG 1
     time 180.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir SOUTH_EAST  loc 1715,107  DistToNext 50.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir SOUTH_EAST  loc 1715,157  DistToNext 0.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
   [ 2]     qtv    move PORT_TURN   dir EAST  loc 1715,157  DistToNext 50.000000
    Speed 0, FLAG 1
     time  0.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir NORTH  loc 1034,930  DistToNext 0.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move STBD_TURN   dir NORTH_EAST  loc 1034,930  DistToNext 59.396969
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move FORWARD   dir NORTH_EAST  loc 1076,972  DistToNext 0.000000
    Speed 1, FLAG 1
     time 106.91   tot 106.91
   [ 3]     qtv    move STBD_TURN   dir EAST  loc 1076,972  DistToNext 40.000000
    Speed 0, FLAG 1
     time  0.00   tot 106.91
   [ 4]     qtv    move FORWARD   dir EAST  loc 1116,972  DistToNext 21.000000
    Speed 1, FLAG 1
     time 72.00   tot 178.91
   [ 5]     qtv    move FORWARD   dir EAST  loc 1095,972  DistToNext 0.000000
    Speed 1, FLAG 2
     time 37.80   tot 216.71
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir NORTH  loc 920,779  DistToNext 50.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir NORTH  loc 920,829  DistToNext 0.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
   [ 2]     qtv    move PORT_TURN   dir NORTH_WEST  loc 920,829  DistToNext 50.000000
    Speed 0, FLAG 1
     time  0.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move STBD_TURN   dir WEST  loc 1985,-825  DistToNext 50.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir WEST  loc 1985,-775  DistToNext 0.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
   [ 2]     qtv    move PORT_TURN   dir SOUTH_WEST  loc 1985,-775  DistToNext 50.000000
    Speed 0, FLAG 1
     time  0.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move PORT_TURN   dir WEST  loc 741,948  DistToNext 50.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir WEST  loc 741,998  DistToNext 50.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir NORTH_WEST  loc 1110,547  DistToNext 50.000000
    Speed 2, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir NORTH_WEST  loc 1110,597  DistToNext 50.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move STBD_TURN   dir NORTH_WEST  loc 1455,-56  DistToNext 50.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir NORTH_WEST  loc 1455,-6  DistToNext 0.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
   [ 2]     qtv    move STBD_TURN   dir NORTH  loc 1455,-6  DistToNext 50.000000
    Speed 0, FLAG 1
     time  0.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir WEST  loc 1384,1049  DistToNext 0.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move STBD_TURN   dir NORTH_WEST  loc 1384,1049  DistToNext 138.592926
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move FORWARD   dir NORTH_WEST  loc 1286,1147  DistToNext 0.000000
    Speed 3, FLAG 1
     time 83.16   tot 83.16
   [ 3]     qtv    move STBD_TURN   dir NORTH  loc 1286,1147  DistToNext 106.000000
    Speed 0, FLAG 1
     time  0.00   tot 83.16
   [ 4]     qtv    move FORWARD   dir NORTH  loc 1286,1253  DistToNext 73.000000
    Speed 2, FLAG 1
     time 95.40   tot 178.55
   [ 5]     qtv    move FORWARD   dir NORTH  loc 1286,1180  DistToNext 0.000000
    Speed 2, FLAG 2
     time 65.70   tot 244.25
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir WEST  loc 1122,570  DistToNext 50.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir WEST  loc 1122,620  DistToNext 50.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir SOUTH_WEST  loc 1205,767  DistToNext 0.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move STBD_TURN   dir WEST  loc 1205,767  DistToNext 40.000000
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move FORWARD   dir WEST  loc 1165,767  DistToNext 0.000000
    Speed 2, FLAG 1
     time 36.00   tot 36.00
   [ 3]     qtv    move STBD_TURN   dir NORTH_WEST  loc 1165,767  DistToNext 39.597980
    Speed 0, FLAG 1
     time  0.00   tot 36.00
   [ 4]     qtv    move FORWARD   dir NORTH_WEST  loc 1137,795  DistToNext 0.000000
    Speed 3, FLAG 1
     time 23.76   tot 59.76
   [ 5]     qtv    move STBD_TURN   dir NORTH  loc 1137,795  DistToNext 40.000000
    Speed 0, FLAG 1
     time  0.00   tot 59.76
   [ 6]     qtv    move FORWARD   dir NORTH  loc 1137,835  DistToNext 0.000000
    Speed 3, FLAG 1
     time 24.00   tot 83.76
   [ 7]     qtv    move STBD_TURN   dir NORTH_EAST  loc 1137,835  DistToNext 39.597980
    Speed 0, FLAG 1
     time  0.00   tot 83.76
   [ 8]     qtv    move FORWARD   dir NORTH_EAST  loc 1165,863  DistToNext 0.000000
    Speed 3, FLAG 1
     time 23.76   tot 107.52
   [ 9]     qtv    move STBD_TURN   dir EAST  loc 1165,863  DistToNext 40.000000
    Speed 0, FLAG 1
     time  0.00   tot 107.52
   [10]     qtv    move FORWARD   dir EAST  loc 1205,863  DistToNext 0.000000
    Speed 2, FLAG 1
     time 36.00   tot 143.52
   [11]     qtv    move STBD_TURN   dir SOUTH_EAST  loc 1205,863  DistToNext 19.798990
    Speed 0, FLAG 1
     time  0.00   tot 143.52
   [12]     qtv    move FORWARD   dir SOUTH_EAST  loc 1219,849  DistToNext 0.000000
    Speed 1, FLAG 1
     time 35.64   tot 179.15
   [13]     qtv    move FORWARD   dir SOUTH_EAST  loc 1219,849  DistToNext 0.000000
    Speed 1, FLAG 2
     time  0.00   tot 179.15
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir SOUTH_EAST  loc 815,785  DistToNext 0.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move PORT_TURN   dir EAST  loc 815,785  DistToNext 40.000000
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move FORWARD   dir EAST  loc 855,785  DistToNext 0.000000
    Speed 3, FLAG 1
     time 24.00   tot 24.00
   [ 3]     qtv    move PORT_TURN   dir NORTH_EAST  loc 855,785  DistToNext 39.597980
    Speed 0, FLAG 1
     time  0.00   tot 24.00
   [ 4]     qtv    move FORWARD   dir NORTH_EAST  loc 883,813  DistToNext 0.000000
    Speed 5, FLAG 1
     time 14.26   tot 38.25
   [ 5]     qtv    move PORT_TURN   dir NORTH  loc 883,813  DistToNext 40.000000
    Speed 0, FLAG 1
     time  0.00   tot 38.25
   [ 6]     qtv    move FORWARD   dir NORTH  loc 883,853  DistToNext 0.000000
    Speed 4, FLAG 1
     time 18.00   tot 56.25
   [ 7]     qtv    move PORT_TURN   dir NORTH_WEST  loc 883,853  DistToNext 39.597980
    Speed 0, FLAG 1
     time  0.00   tot 56.25
   [ 8]     qtv    move FORWARD   dir NORTH_WEST  loc 855,881  DistToNext 0.000000
    Speed 5, FLAG 1
     time 14.26   tot 70.51
   [ 9]     qtv    move PORT_TURN   dir WEST  loc 855,881  DistToNext 40.000000
    Speed 0, FLAG 1
     time  0.00   tot 70.51
   [10]     qtv    move FORWARD   dir WEST  loc 815,881  DistToNext 0.000000
    Speed 3, FLAG 1
     time 24.00   tot 94.51
   [11]     qtv    move PORT_TURN   dir SOUTH_WEST  loc 815,881  DistToNext 39.597980
    Speed 0, FLAG 1
     time  0.00   tot 94.51
   [12]     qtv    move FORWARD   dir SOUTH_WEST  loc 787,853  DistToNext 0.000000
    Speed 1, FLAG 1
     time 71.28   tot 165.79
   [13]     qtv    move PORT_TURN   dir SOUTH  loc 787,853  DistToNext 3.948085
    Speed 0, FLAG 1
     time  0.00   tot 165.79
   [14]     qtv    move FORWARD   dir SOUTH  loc 787,856  DistToNext 0.000000
    Speed -1, FLAG 1
     time 14.21   tot 180.00
   [15]     qtv    move PORT_TURN   dir SOUTH_EAST  loc 787,856  DistToNext 3.948085
    Speed 0, FLAG 1
     time  0.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move PORT_TURN   dir NORTH_WEST  loc 1919,-60  DistToNext 50.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir NORTH_WEST  loc 1919,-10  DistToNext 0.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
   [ 2]     qtv    move STBD_TURN   dir NORTH  loc 1919,-10  DistToNext 50.000000
    Speed 0, FLAG 1
     time  0.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move PORT_TURN   dir NORTH_EAST  loc 2126,-14  DistToNext 50.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir NORTH_EAST  loc 2126,36  DistToNext 0.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
   [ 2]     qtv    move PORT_TURN   dir NORTH  loc 2126,36  DistToNext 50.000000
    Speed 0, FLAG 1
     time  0.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir SOUTH_WEST  loc 853,909  DistToNext 0.000000
    Speed 2, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move STBD_TURN   dir WEST  loc 853,909  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move FORWARD   dir WEST  loc 793,909  DistToNext 0.000000
    Speed 3, FLAG 1
     time 36.00   tot 36.00
   [ 3]     qtv    move STBD_TURN   dir NORTH_WEST  loc 793,909  DistToNext 59.396969
    Speed 0, FLAG 1
     time  0.00   tot 36.00
   [ 4]     qtv    move FORWARD   dir NORTH_WEST  loc 751,951  DistToNext 0.000000
    Speed 5, FLAG 1
     time 21.38   tot 57.38
   [ 5]     qtv    move STBD_TURN   dir NORTH  loc 751,951  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot 57.38
   [ 6]     qtv    move FORWARD   dir NORTH  loc 751,1011  DistToNext 0.000000
    Speed 4, FLAG 1
     time 27.00   tot 84.38
   [ 7]     qtv    move STBD_TURN   dir NORTH_EAST  loc 751,1011  DistToNext 59.396969
    Speed 0, FLAG 1
     time  0.00   tot 84.38
   [ 8]     qtv    move FORWARD   dir NORTH_EAST  loc 793,1053  DistToNext 0.000000
    Speed 5, FLAG 1
     time 21.38   tot 105.76
   [ 9]     qtv    move STBD_TURN   dir EAST  loc 793,1053  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot 105.76
   [10]     qtv    move FORWARD   dir EAST  loc 853,1053  DistToNext 0.000000
    Speed 3, FLAG 1
     time 36.00   tot 141.76
   [11]     qtv    move STBD_TURN   dir SOUTH_EAST  loc 853,1053  DistToNext 41.012192
    Speed 0, FLAG 1
     time  0.00   tot 141.76
   [12]     qtv    move FORWARD   dir SOUTH_EAST  loc 882,1024  DistToNext 24.041630
    Speed 2, FLAG 1
     time 36.91   tot 178.68
   [13]     qtv    move FORWARD   dir SOUTH_EAST  loc 865,1041  DistToNext 0.000000
    Speed 2, FLAG 2
     time 21.64   tot 200.31
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir EAST  loc 1309,859  DistToNext 0.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move PORT_TURN   dir NORTH_EAST  loc 1309,859  DistToNext 59.396969
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move FORWARD   dir NORTH_EAST  loc 1351,901  DistToNext 0.000000
    Speed 1, FLAG 1
     time 106.91   tot 106.91
   [ 3]     qtv    move PORT_TURN   dir NORTH  loc 1351,901  DistToNext 40.000000
    Speed 0, FLAG 1
     time  0.00   tot 106.91
   [ 4]     qtv    move FORWARD   dir NORTH  loc 1351,941  DistToNext 21.000000
    Speed 1, FLAG 1
     time 72.00   tot 178.91
   [ 5]     qtv    move FORWARD   dir NORTH  loc 1351,920  DistToNext 0.000000
    Speed 1, FLAG 2
     time 37.80   tot 216.71
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir EAST  loc 1073,576  DistToNext 50.000000
    Speed 2, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir EAST  loc 1073,626  DistToNext 50.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move PORT_TURN   dir EAST  loc 1715,157  DistToNext 50.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir EAST  loc 1715,207  DistToNext 0.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
   [ 2]     qtv    move STBD_TURN   dir SOUTH_EAST  loc 1715,207  DistToNext 50.000000
    Speed 0, FLAG 1
     time  0.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir EAST  loc 1116,972  DistToNext 0.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move PORT_TURN   dir NORTH_EAST  loc 1116,972  DistToNext 59.396969
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move FORWARD   dir NORTH_EAST  loc 1158,1014  DistToNext 0.000000
    Speed 1, FLAG 1
     time 106.91   tot 106.91
   [ 3]     qtv    move STBD_TURN   dir EAST  loc 1158,1014  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot 106.91
   [ 4]     qtv    move FORWARD   dir EAST  loc 1218,1014  DistToNext 0.000000
    Speed 1, FLAG 1
     time 108.00   tot 214.91
   [ 5]     qtv    move STBD_TURN   dir SOUTH_EAST  loc 1218,1014  DistToNext 60.811184
    Speed 1, FLAG 1
     time  0.00   tot 214.91
   [ 6]     qtv    move FORWARD   dir SOUTH_EAST  loc 1261,971  DistToNext 0.000000
    Speed 1, FLAG 1
     time 109.46   tot 324.37
   [ 7]     qtv    move STBD_TURN   dir SOUTH  loc 1261,971  DistToNext 0.000000
    Speed 1, FLAG 1
     time  0.00   tot 324.37
   [ 8]     qtv    move STBD_TURN   dir SOUTH_WEST  loc 1261,971  DistToNext 60.811184
    Speed 0, FLAG 1
     time  0.00   tot 324.37
   [ 9]     qtv    move FORWARD   dir SOUTH_WEST  loc 1218,928  DistToNext 0.000000
    Speed 1, FLAG 1
     time 109.46   tot 433.83
   [10]     qtv    move STBD_TURN   dir WEST  loc 1218,928  DistToNext 40.000000
    Speed 1, FLAG 1
     time  0.00   tot 433.83
   [11]     qtv    move FORWARD   dir WEST  loc 1178,928  DistToNext 21.000000
    Speed 1, FLAG 1
     time 72.00   tot 505.83
   [12]     qtv    move FORWARD   dir WEST  loc 1199,928  DistToNext 0.000000
    Speed 1, FLAG 2
     time 37.80   tot 543.63
  End Path <===
* ==> Start Path
   [ 0]     qtv    move PORT_TURN   dir NORTH_WEST  loc 920,829  DistToNext 50.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir NORTH_WEST  loc 920,879  DistToNext 0.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
   [ 2]     qtv    move STBD_TURN   dir NORTH  loc 920,879  DistToNext 50.000000
    Speed 0, FLAG 1
     time  0.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move PORT_TURN   dir SOUTH_WEST  loc 1985,-775  DistToNext 50.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir SOUTH_WEST  loc 1985,-725  DistToNext 0.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
   [ 2]     qtv    move STBD_TURN   dir WEST  loc 1985,-725  DistToNext 50.000000
    Speed 0, FLAG 1
     time  0.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir WEST  loc 741,1012  DistToNext 50.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir WEST  loc 741,1062  DistToNext 50.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move STBD_TURN   dir NORTH  loc 1020,687  DistToNext 60.000000
    Speed 2, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir NORTH  loc 1020,747  DistToNext 0.000000
    Speed 2, FLAG 1
     time 54.00   tot 54.00
   [ 2]     qtv    move STBD_TURN   dir NORTH_EAST  loc 1020,747  DistToNext 59.396969
    Speed 0, FLAG 1
     time  0.00   tot 54.00
   [ 3]     qtv    move FORWARD   dir NORTH_EAST  loc 1062,789  DistToNext 0.000000
    Speed 3, FLAG 1
     time 35.64   tot 89.64
   [ 4]     qtv    move STBD_TURN   dir EAST  loc 1062,789  DistToNext 50.000000
    Speed 0, FLAG 1
     time  0.00   tot 89.64
   [ 5]     qtv    move FORWARD   dir EAST  loc 1112,789  DistToNext 41.000000
    Speed 1, FLAG 1
     time 90.00   tot 179.64
   [ 6]     qtv    move FORWARD   dir EAST  loc 1071,789  DistToNext 0.000000
    Speed 1, FLAG 2
     time 73.80   tot 253.44
  End Path <===
* ==> Start Path
   [ 0]     qtv    move STBD_TURN   dir NORTH  loc 1455,-6  DistToNext 50.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir NORTH  loc 1455,44  DistToNext 0.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
   [ 2]     qtv    move PORT_TURN   dir NORTH_WEST  loc 1455,44  DistToNext 50.000000
    Speed 0, FLAG 1
     time  0.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir NORTH  loc 1286,1253  DistToNext 0.000000
    Speed 2, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move PORT_TURN   dir NORTH_WEST  loc 1286,1253  DistToNext 138.592926
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move FORWARD   dir NORTH_WEST  loc 1188,1351  DistToNext 0.000000
    Speed 3, FLAG 1
     time 83.16   tot 83.16
   [ 3]     qtv    move PORT_TURN   dir WEST  loc 1188,1351  DistToNext 53.000000
    Speed 0, FLAG 1
     time  0.00   tot 83.16
   [ 4]     qtv    move FORWARD   dir WEST  loc 1135,1351  DistToNext 33.000000
    Speed 1, FLAG 1
     time 95.40   tot 178.55
   [ 5]     qtv    move FORWARD   dir WEST  loc 1102,1351  DistToNext 0.000000
    Speed 1, FLAG 2
     time 59.40   tot 237.95
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir WEST  loc 1122,710  DistToNext 0.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move BACK_SAIL   dir NORTH_WEST  loc 1122,710  DistToNext 118.793938
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move STBD_TURN   dir NORTH_WEST  loc 1122,710  DistToNext 36.769554
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 3]     qtv    move FORWARD   dir NORTH_WEST  loc 1096,736  DistToNext 45.254833
    Speed 2, FLAG 1
     time 33.09   tot 33.09
   [ 4]     qtv    move FORWARD   dir NORTH_WEST  loc 1064,768  DistToNext 0.000000
    Speed 2, FLAG 2
     time 40.73   tot 73.82
   [ 5]     qtv    move NO_DIRECTION   dir NORTH_WEST  loc 1064,768  DistToNext 118.793938
    Speed 0, FLAG 1
     time  0.00   tot 73.82
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir SOUTH_EAST  loc 1219,849  DistToNext 0.000000
    Speed 2, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move PORT_TURN   dir EAST  loc 1219,849  DistToNext 0.000000
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move STBD_TURN   dir SOUTH_EAST  loc 1219,849  DistToNext 41.012192
    Speed 2, FLAG 1
     time  0.00   tot  0.00
   [ 3]     qtv    move FORWARD   dir SOUTH_EAST  loc 1248,820  DistToNext 0.000000
    Speed 2, FLAG 1
     time 36.91   tot 36.91
   [ 4]     qtv    move STBD_TURN   dir SOUTH  loc 1248,820  DistToNext 40.000000
    Speed 2, FLAG 1
     time  0.00   tot 36.91
   [ 5]     qtv    move FORWARD   dir SOUTH  loc 1248,780  DistToNext 0.000000
    Speed 2, FLAG 1
     time 36.00   tot 72.91
   [ 6]     qtv    move STBD_TURN   dir SOUTH_WEST  loc 1248,780  DistToNext 0.000000
    Speed 2, FLAG 1
     time  0.00   tot 72.91
   [ 7]     qtv    move STBD_TURN   dir WEST  loc 1248,780  DistToNext 40.000000
    Speed 0, FLAG 1
     time  0.00   tot 72.91
   [ 8]     qtv    move FORWARD   dir WEST  loc 1208,780  DistToNext 0.000000
    Speed 4, FLAG 1
     time 18.00   tot 90.91
   [ 9]     qtv    move PORT_TURN   dir SOUTH_WEST  loc 1208,780  DistToNext 97.580734
    Speed 4, FLAG 1
     time  0.00   tot 90.91
   [10]     qtv    move FORWARD   dir SOUTH_WEST  loc 1139,711  DistToNext 0.000000
    Speed 2, FLAG 1
     time 87.82   tot 178.73
  End Path <===
* ==> Start Path
   [ 0]     qtv    move PORT_TURN   dir SOUTH_EAST  loc 787,856  DistToNext 39.597980
    Speed 2, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir SOUTH_EAST  loc 815,828  DistToNext 0.000000
    Speed 2, FLAG 1
     time 35.64   tot 35.64
   [ 2]     qtv    move PORT_TURN   dir EAST  loc 815,828  DistToNext 400.000000
    Speed 0, FLAG 1
     time  0.00   tot 35.64
   [ 3]     qtv    move FORWARD   dir EAST  loc 1215,828  DistToNext 0.000000
    Speed 5, FLAG 1
     time 144.00   tot 179.64
  End Path <===
* ==> Start Path
   [ 0]     qtv    move STBD_TURN   dir NORTH  loc 1919,-10  DistToNext 50.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir NORTH  loc 1919,40  DistToNext 50.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move PORT_TURN   dir NORTH  loc 2126,36  DistToNext 50.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir NORTH  loc 2126,86  DistToNext 0.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
   [ 2]     qtv    move PORT_TURN   dir NORTH_WEST  loc 2126,86  DistToNext 50.000000
    Speed 0, FLAG 1
     time  0.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir NORTH  loc 752,984  DistToNext 0.000000
    Speed 5, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move PORT_TURN   dir NORTH_WEST  loc 752,984  DistToNext 60.811184
    Speed 5, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move FORWARD   dir NORTH_WEST  loc 709,1027  DistToNext 0.000000
    Speed 6, FLAG 1
     time 18.24   tot 18.24
   [ 3]     qtv    move PORT_TURN   dir WEST  loc 709,1027  DistToNext 60.000000
    Speed 6, FLAG 1
     time  0.00   tot 18.24
   [ 4]     qtv    move FORWARD   dir WEST  loc 649,1027  DistToNext 0.000000
    Speed 4, FLAG 1
     time 27.00   tot 45.24
   [ 5]     qtv    move PORT_TURN   dir SOUTH_WEST  loc 649,1027  DistToNext 0.000000
    Speed 4, FLAG 1
     time  0.00   tot 45.24
   [ 6]     qtv    move PORT_TURN   dir SOUTH  loc 649,1027  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot 45.24
   [ 7]     qtv    move FORWARD   dir SOUTH  loc 649,967  DistToNext 0.000000
    Speed 4, FLAG 1
     time 27.00   tot 72.24
   [ 8]     qtv    move STBD_TURN   dir SOUTH_WEST  loc 649,967  DistToNext 118.793938
    Speed 4, FLAG 1
     time  0.00   tot 72.24
   [ 9]     qtv    move FORWARD   dir SOUTH_WEST  loc 565,883  DistToNext 0.000000
    Speed 2, FLAG 1
     time 106.91   tot 179.16
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir NORTH  loc 1351,941  DistToNext 0.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move PORT_TURN   dir NORTH_WEST  loc 1351,941  DistToNext 59.396969
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move FORWARD   dir NORTH_WEST  loc 1309,983  DistToNext 0.000000
    Speed 2, FLAG 1
     time 53.46   tot 53.46
   [ 3]     qtv    move PORT_TURN   dir WEST  loc 1309,983  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot 53.46
   [ 4]     qtv    move FORWARD   dir WEST  loc 1249,983  DistToNext 0.000000
    Speed 1, FLAG 1
     time 108.00   tot 161.46
   [ 5]     qtv    move PORT_TURN   dir SOUTH_WEST  loc 1249,983  DistToNext 60.811184
    Speed 1, FLAG 1
     time  0.00   tot 161.46
   [ 6]     qtv    move FORWARD   dir SOUTH_WEST  loc 1206,940  DistToNext 0.000000
    Speed 1, FLAG 1
     time 109.46   tot 270.92
   [ 7]     qtv    move PORT_TURN   dir SOUTH  loc 1206,940  DistToNext 0.000000
    Speed 1, FLAG 1
     time  0.00   tot 270.92
   [ 8]     qtv    move PORT_TURN   dir SOUTH_EAST  loc 1206,940  DistToNext 60.811184
    Speed 0, FLAG 1
     time  0.00   tot 270.92
   [ 9]     qtv    move FORWARD   dir SOUTH_EAST  loc 1249,897  DistToNext 0.000000
    Speed 1, FLAG 1
     time 109.46   tot 380.37
   [10]     qtv    move STBD_TURN   dir SOUTH  loc 1249,897  DistToNext -55.660416
    Speed 1, FLAG 1
     time  0.00   tot 380.37
   [11]     qtv    move FORWARD   dir SOUTH  loc 1249,842  DistToNext 0.000000
    Speed -1, FLAG 1
     time -200.38   tot 180.00
   [12]     qtv    move STBD_TURN   dir SOUTH_WEST  loc 1249,842  DistToNext -55.660416
    Speed 0, FLAG 1
     time  0.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move PORT_TURN   dir NORTH_EAST  loc 1163,626  DistToNext 50.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir NORTH_EAST  loc 1163,676  DistToNext 50.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move STBD_TURN   dir SOUTH_EAST  loc 1715,207  DistToNext 50.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir SOUTH_EAST  loc 1715,257  DistToNext 50.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir EAST  loc 1178,928  DistToNext 0.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move BACK_SAIL   dir SOUTH_EAST  loc 1178,928  DistToNext 98.994949
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move STBD_TURN   dir SOUTH_EAST  loc 1178,928  DistToNext 98.994949
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 3]     qtv    move FORWARD   dir SOUTH_EAST  loc 1248,858  DistToNext 0.000000
    Speed 1, FLAG 1
     time 178.19   tot 178.19
   [ 4]     qtv    move NO_DIRECTION   dir SOUTH_EAST  loc 1248,858  DistToNext 0.000000
    Speed 0, FLAG 1
     time  0.00   tot 178.19
  End Path <===
* ==> Start Path
   [ 0]     qtv    move STBD_TURN   dir NORTH  loc 920,879  DistToNext 50.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir NORTH  loc 920,929  DistToNext 0.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
   [ 2]     qtv    move PORT_TURN   dir NORTH_WEST  loc 920,929  DistToNext 50.000000
    Speed 0, FLAG 1
     time  0.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move STBD_TURN   dir WEST  loc 1985,-725  DistToNext 50.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir WEST  loc 1985,-675  DistToNext 0.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
   [ 2]     qtv    move PORT_TURN   dir SOUTH_WEST  loc 1985,-675  DistToNext 50.000000
    Speed 0, FLAG 1
     time  0.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir WEST  loc 741,1060  DistToNext 50.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir WEST  loc 741,1110  DistToNext 0.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
   [ 2]     qtv    move PORT_TURN   dir SOUTH_WEST  loc 741,1110  DistToNext 50.000000
    Speed 0, FLAG 1
     time  0.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir EAST  loc 1060,821  DistToNext 50.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir EAST  loc 1060,871  DistToNext 50.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move PORT_TURN   dir NORTH_WEST  loc 1455,44  DistToNext 50.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir NORTH_WEST  loc 1455,94  DistToNext 0.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
   [ 2]     qtv    move PORT_TURN   dir WEST  loc 1455,94  DistToNext 50.000000
    Speed 0, FLAG 1
     time  0.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir WEST  loc 1135,1351  DistToNext 0.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move STBD_TURN   dir NORTH_WEST  loc 1135,1351  DistToNext 138.592926
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move FORWARD   dir NORTH_WEST  loc 1037,1449  DistToNext 0.000000
    Speed 3, FLAG 1
     time 83.16   tot 83.16
   [ 3]     qtv    move STBD_TURN   dir NORTH  loc 1037,1449  DistToNext 106.000000
    Speed 0, FLAG 1
     time  0.00   tot 83.16
   [ 4]     qtv    move FORWARD   dir NORTH  loc 1037,1555  DistToNext 73.000000
    Speed 2, FLAG 1
     time 95.40   tot 178.55
   [ 5]     qtv    move FORWARD   dir NORTH  loc 1037,1482  DistToNext 0.000000
    Speed 2, FLAG 2
     time 65.70   tot 244.25
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir NORTH_WEST  loc 1096,736  DistToNext 0.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move STBD_TURN   dir NORTH  loc 1096,736  DistToNext 100.000000
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move FORWARD   dir NORTH  loc 1096,836  DistToNext 81.000000
    Speed 1, FLAG 1
     time 180.00   tot 180.00
   [ 3]     qtv    move FORWARD   dir NORTH  loc 1096,755  DistToNext 0.000000
    Speed 1, FLAG 2
     time 145.80   tot 325.80
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir SOUTH_WEST  loc 1139,711  DistToNext 0.000000
    Speed 2, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move STBD_TURN   dir WEST  loc 1139,711  DistToNext 40.000000
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move FORWARD   dir WEST  loc 1099,711  DistToNext 0.000000
    Speed 4, FLAG 1
     time 18.00   tot 18.00
   [ 3]     qtv    move STBD_TURN   dir NORTH_WEST  loc 1099,711  DistToNext 538.815369
    Speed 0, FLAG 1
     time  0.00   tot 18.00
   [ 4]     qtv    move FORWARD   dir NORTH_WEST  loc 718,1092  DistToNext 0.000000
    Speed 6, FLAG 1
     time 161.64   tot 179.64
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir EAST  loc 1010,837  DistToNext 50.000000
    Speed 5, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir EAST  loc 1010,887  DistToNext 50.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir NORTH  loc 1919,40  DistToNext 50.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir NORTH  loc 1919,90  DistToNext 0.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
   [ 2]     qtv    move PORT_TURN   dir NORTH_WEST  loc 1919,90  DistToNext 50.000000
    Speed 0, FLAG 1
     time  0.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move PORT_TURN   dir NORTH_WEST  loc 2126,86  DistToNext 50.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir NORTH_WEST  loc 2126,136  DistToNext 0.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
   [ 2]     qtv    move STBD_TURN   dir NORTH  loc 2126,136  DistToNext 50.000000
    Speed 0, FLAG 1
     time  0.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir NORTH_WEST  loc 662,1123  DistToNext 0.000000
    Speed 6, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move STBD_TURN   dir NORTH  loc 662,1123  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move FORWARD   dir NORTH  loc 662,1183  DistToNext 0.000000
    Speed 5, FLAG 1
     time 21.60   tot 21.60
   [ 3]     qtv    move STBD_TURN   dir NORTH_EAST  loc 662,1183  DistToNext 527.501648
    Speed 0, FLAG 1
     time  0.00   tot 21.60
   [ 4]     qtv    move FORWARD   dir NORTH_EAST  loc 1035,1556  DistToNext 0.000000
    Speed 6, FLAG 1
     time 158.25   tot 179.85
  End Path <===
* ==> Start Path
   [ 0]     qtv    move STBD_TURN   dir SOUTH_WEST  loc 1249,842  DistToNext 59.396969
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir SOUTH_WEST  loc 1207,800  DistToNext 0.000000
    Speed 1, FLAG 1
     time 106.91   tot 106.91
   [ 2]     qtv    move STBD_TURN   dir WEST  loc 1207,800  DistToNext 40.000000
    Speed 0, FLAG 1
     time  0.00   tot 106.91
   [ 3]     qtv    move FORWARD   dir WEST  loc 1167,800  DistToNext 21.000000
    Speed 1, FLAG 1
     time 72.00   tot 178.91
   [ 4]     qtv    move FORWARD   dir WEST  loc 1188,800  DistToNext 0.000000
    Speed 1, FLAG 2
     time 37.80   tot 216.71
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir NORTH_EAST  loc 1163,676  DistToNext 50.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir NORTH_EAST  loc 1163,726  DistToNext 50.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir SOUTH_EAST  loc 1715,257  DistToNext 50.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir SOUTH_EAST  loc 1715,307  DistToNext 0.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
   [ 2]     qtv    move PORT_TURN   dir EAST  loc 1715,307  DistToNext 50.000000
    Speed 0, FLAG 1
     time  0.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move NO_DIRECTION   dir SOUTH_EAST  loc 1248,858  DistToNext 59.396969
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move BACK_SAIL   dir SOUTH_EAST  loc 1290,816  DistToNext 0.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move FORWARD   dir SOUTH_EAST  loc 1290,816  DistToNext 0.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 3]     qtv    move PORT_TURN   dir EAST  loc 1290,816  DistToNext 40.000000
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 4]     qtv    move FORWARD   dir EAST  loc 1330,816  DistToNext 21.000000
    Speed 1, FLAG 1
     time 72.00   tot 72.00
   [ 5]     qtv    move FORWARD   dir EAST  loc 1309,816  DistToNext 0.000000
    Speed 1, FLAG 2
     time 37.80   tot 109.80
   [ 6]     qtv    move NO_DIRECTION   dir EAST  loc 1309,816  DistToNext 0.000000
    Speed 0, FLAG 1
     time  0.00   tot 109.80
  End Path <===
* ==> Start Path
   [ 0]     qtv    move PORT_TURN   dir NORTH_WEST  loc 920,929  DistToNext 50.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir NORTH_WEST  loc 920,979  DistToNext 0.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
   [ 2]     qtv    move PORT_TURN   dir WEST  loc 920,979  DistToNext 50.000000
    Speed 0, FLAG 1
     time  0.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move PORT_TURN   dir SOUTH_WEST  loc 1985,-675  DistToNext 50.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir SOUTH_WEST  loc 1985,-625  DistToNext 0.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
   [ 2]     qtv    move STBD_TURN   dir WEST  loc 1985,-625  DistToNext 50.000000
    Speed 0, FLAG 1
     time  0.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move PORT_TURN   dir SOUTH_WEST  loc 741,1110  DistToNext 50.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir SOUTH_WEST  loc 741,1160  DistToNext 50.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir EAST  loc 1060,869  DistToNext 0.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move PORT_TURN   dir NORTH_EAST  loc 1060,869  DistToNext 59.396969
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move FORWARD   dir NORTH_EAST  loc 1102,911  DistToNext 0.000000
    Speed 3, FLAG 1
     time 35.64   tot 35.64
   [ 3]     qtv    move PORT_TURN   dir NORTH  loc 1102,911  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot 35.64
   [ 4]     qtv    move FORWARD   dir NORTH  loc 1102,971  DistToNext 0.000000
    Speed 2, FLAG 1
     time 54.00   tot 89.64
   [ 5]     qtv    move PORT_TURN   dir NORTH_WEST  loc 1102,971  DistToNext 59.396969
    Speed 0, FLAG 1
     time  0.00   tot 89.64
   [ 6]     qtv    move FORWARD   dir NORTH_WEST  loc 1060,1013  DistToNext 0.000000
    Speed 3, FLAG 1
     time 35.64   tot 125.28
   [ 7]     qtv    move PORT_TURN   dir WEST  loc 1060,1013  DistToNext 30.000000
    Speed 0, FLAG 1
     time  0.00   tot 125.28
   [ 8]     qtv    move FORWARD   dir WEST  loc 1030,1013  DistToNext 1.000000
    Speed 1, FLAG 1
     time 54.00   tot 179.27
   [ 9]     qtv    move FORWARD   dir WEST  loc 1031,1013  DistToNext 0.000000
    Speed 1, FLAG 2
     time  1.80   tot 181.07
  End Path <===
* ==> Start Path
   [ 0]     qtv    move PORT_TURN   dir WEST  loc 1455,94  DistToNext 50.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir WEST  loc 1455,144  DistToNext 0.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
   [ 2]     qtv    move STBD_TURN   dir NORTH_WEST  loc 1455,144  DistToNext 50.000000
    Speed 0, FLAG 1
     time  0.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir NORTH  loc 1037,1542  DistToNext 50.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir NORTH  loc 1037,1592  DistToNext 0.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
   [ 2]     qtv    move STBD_TURN   dir NORTH_EAST  loc 1037,1592  DistToNext 50.000000
    Speed 0, FLAG 1
     time  0.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir NORTH  loc 1101,787  DistToNext 0.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move PORT_TURN   dir NORTH_WEST  loc 1101,787  DistToNext 98.994949
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move FORWARD   dir NORTH_WEST  loc 1031,857  DistToNext 79.195961
    Speed 1, FLAG 1
     time 178.19   tot 178.19
   [ 3]     qtv    move FORWARD   dir NORTH_WEST  loc 1087,801  DistToNext 0.000000
    Speed 1, FLAG 2
     time 142.55   tot 320.74
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir WEST  loc 1044,848  DistToNext 0.000000
    Speed 4, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move STBD_TURN   dir NORTH_WEST  loc 1044,848  DistToNext 39.597980
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move FORWARD   dir NORTH_WEST  loc 1016,876  DistToNext 0.000000
    Speed 6, FLAG 1
     time 11.88   tot 11.88
   [ 3]     qtv    move STBD_TURN   dir NORTH  loc 1016,876  DistToNext 40.000000
    Speed 0, FLAG 1
     time  0.00   tot 11.88
   [ 4]     qtv    move FORWARD   dir NORTH  loc 1016,916  DistToNext 0.000000
    Speed 5, FLAG 1
     time 14.40   tot 26.28
   [ 5]     qtv    move STBD_TURN   dir NORTH_EAST  loc 1016,916  DistToNext 511.945312
    Speed 0, FLAG 1
     time  0.00   tot 26.28
   [ 6]     qtv    move FORWARD   dir NORTH_EAST  loc 1378,1278  DistToNext 0.000000
    Speed 6, FLAG 1
     time 153.58   tot 179.86
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir EAST  loc 920,976  DistToNext 0.000000
    Speed 5, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move STBD_TURN   dir SOUTH_EAST  loc 920,976  DistToNext 199.404114
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move FORWARD   dir SOUTH_EAST  loc 1061,835  DistToNext 0.000000
    Speed 2, FLAG 1
     time 179.46   tot 179.46
  End Path <===
* ==> Start Path
   [ 0]     qtv    move PORT_TURN   dir NORTH_WEST  loc 1919,90  DistToNext 50.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir NORTH_WEST  loc 1919,140  DistToNext 0.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
   [ 2]     qtv    move PORT_TURN   dir WEST  loc 1919,140  DistToNext 50.000000
    Speed 0, FLAG 1
     time  0.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move STBD_TURN   dir NORTH  loc 2126,136  DistToNext 50.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir NORTH  loc 2126,186  DistToNext 50.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir NORTH_EAST  loc 1005,1527  DistToNext 0.000000
    Speed 6, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move PORT_TURN   dir NORTH  loc 1005,1527  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move FORWARD   dir NORTH  loc 1005,1587  DistToNext 0.000000
    Speed 5, FLAG 1
     time 21.60   tot 21.60
   [ 3]     qtv    move PORT_TURN   dir NORTH_WEST  loc 1005,1587  DistToNext 59.396969
    Speed 0, FLAG 1
     time  0.00   tot 21.60
   [ 4]     qtv    move FORWARD   dir NORTH_WEST  loc 963,1629  DistToNext 0.000000
    Speed 6, FLAG 1
     time 17.82   tot 39.42
   [ 5]     qtv    move PORT_TURN   dir WEST  loc 963,1629  DistToNext 120.000000
    Speed 0, FLAG 1
     time  0.00   tot 39.42
   [ 6]     qtv    move FORWARD   dir WEST  loc 843,1629  DistToNext 0.000000
    Speed 4, FLAG 1
     time 54.00   tot 93.42
   [ 7]     qtv    move PORT_TURN   dir SOUTH_WEST  loc 843,1629  DistToNext 60.811184
    Speed 0, FLAG 1
     time  0.00   tot 93.42
   [ 8]     qtv    move FORWARD   dir SOUTH_WEST  loc 800,1586  DistToNext 0.000000
    Speed 2, FLAG 1
     time 54.73   tot 148.15
   [ 9]     qtv    move PORT_TURN   dir SOUTH  loc 800,1586  DistToNext 60.000000
    Speed 2, FLAG 1
     time  0.00   tot 148.15
   [10]     qtv    move FORWARD   dir SOUTH  loc 800,1526  DistToNext 0.000000
    Speed 2, FLAG 1
     time 54.00   tot 202.15
   [11]     qtv    move PORT_TURN   dir SOUTH_EAST  loc 800,1526  DistToNext 0.000000
    Speed 2, FLAG 1
     time  0.00   tot 202.15
   [12]     qtv    move PORT_TURN   dir EAST  loc 800,1526  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot 202.15
   [13]     qtv    move FORWARD   dir EAST  loc 860,1526  DistToNext 0.000000
    Speed 4, FLAG 1
     time 27.00   tot 229.15
   [14]     qtv    move STBD_TURN   dir SOUTH_EAST  loc 860,1526  DistToNext 94.752312
    Speed 4, FLAG 1
     time  0.00   tot 229.15
   [15]     qtv    move FORWARD   dir SOUTH_EAST  loc 927,1459  DistToNext 0.000000
    Speed 2, FLAG 1
     time 85.28   tot 314.42
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir SOUTH_WEST  loc 1243,880  DistToNext 0.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move STBD_TURN   dir WEST  loc 1243,880  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move FORWARD   dir WEST  loc 1183,880  DistToNext 0.000000
    Speed 1, FLAG 1
     time 108.00   tot 108.00
   [ 3]     qtv    move STBD_TURN   dir NORTH_WEST  loc 1183,880  DistToNext 59.396969
    Speed 0, FLAG 1
     time  0.00   tot 108.00
   [ 4]     qtv    move FORWARD   dir NORTH_WEST  loc 1141,922  DistToNext 0.000000
    Speed 2, FLAG 1
     time 53.46   tot 161.46
   [ 5]     qtv    move STBD_TURN   dir NORTH  loc 1141,922  DistToNext 10.000000
    Speed 0, FLAG 1
     time  0.00   tot 161.46
   [ 6]     qtv    move FORWARD   dir NORTH  loc 1141,932  DistToNext 39.000000
    Speed 1, FLAG 1
     time 18.00   tot 179.46
   [ 7]     qtv    move FORWARD   dir NORTH  loc 1141,971  DistToNext 0.000000
    Speed 1, FLAG 2
     time 70.20   tot 249.66
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir NORTH_EAST  loc 1163,726  DistToNext 50.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir NORTH_EAST  loc 1163,776  DistToNext 0.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
   [ 2]     qtv    move STBD_TURN   dir EAST  loc 1163,776  DistToNext 50.000000
    Speed 0, FLAG 1
     time  0.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move PORT_TURN   dir EAST  loc 1715,307  DistToNext 50.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir EAST  loc 1715,357  DistToNext 0.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
   [ 2]     qtv    move STBD_TURN   dir SOUTH_EAST  loc 1715,357  DistToNext 50.000000
    Speed 0, FLAG 1
     time  0.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir SOUTH_EAST  loc 1164,986  DistToNext 0.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move PORT_TURN   dir EAST  loc 1164,986  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move FORWARD   dir EAST  loc 1224,986  DistToNext 0.000000
    Speed 1, FLAG 1
     time 108.00   tot 108.00
   [ 3]     qtv    move PORT_TURN   dir NORTH_EAST  loc 1224,986  DistToNext 39.597980
    Speed 0, FLAG 1
     time  0.00   tot 108.00
   [ 4]     qtv    move FORWARD   dir NORTH_EAST  loc 1252,1014  DistToNext 19.798990
    Speed 1, FLAG 1
     time 71.28   tot 179.27
   [ 5]     qtv    move FORWARD   dir NORTH_EAST  loc 1238,1000  DistToNext 0.000000
    Speed 1, FLAG 2
     time 35.64   tot 214.91
  End Path <===
* ==> Start Path
   [ 0]     qtv    move PORT_TURN   dir WEST  loc 920,979  DistToNext 50.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir WEST  loc 920,1029  DistToNext 0.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
   [ 2]     qtv    move PORT_TURN   dir SOUTH_WEST  loc 920,1029  DistToNext 50.000000
    Speed 0, FLAG 1
     time  0.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move STBD_TURN   dir WEST  loc 1985,-625  DistToNext 50.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir WEST  loc 1985,-575  DistToNext 0.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
   [ 2]     qtv    move PORT_TURN   dir SOUTH_WEST  loc 1985,-575  DistToNext 50.000000
    Speed 0, FLAG 1
     time  0.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir SOUTH_WEST  loc 741,1160  DistToNext 50.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir SOUTH_WEST  loc 741,1210  DistToNext 0.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
   [ 2]     qtv    move STBD_TURN   dir WEST  loc 741,1210  DistToNext 50.000000
    Speed 0, FLAG 1
     time  0.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir NORTH_EAST  loc 1060,917  DistToNext 0.000000
    Speed 3, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move PORT_TURN   dir NORTH  loc 1060,917  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move FORWARD   dir NORTH  loc 1060,977  DistToNext 0.000000
    Speed 2, FLAG 1
     time 54.00   tot 54.00
   [ 3]     qtv    move PORT_TURN   dir NORTH_WEST  loc 1060,977  DistToNext 209.303604
    Speed 0, FLAG 1
     time  0.00   tot 54.00
   [ 4]     qtv    move FORWARD   dir NORTH_WEST  loc 912,1125  DistToNext 0.000000
    Speed 3, FLAG 1
     time 125.58   tot 179.58
  End Path <===
* ==> Start Path
   [ 0]     qtv    move STBD_TURN   dir NORTH_WEST  loc 1455,144  DistToNext 50.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir NORTH_WEST  loc 1455,194  DistToNext 0.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
   [ 2]     qtv    move STBD_TURN   dir NORTH  loc 1455,194  DistToNext 50.000000
    Speed 0, FLAG 1
     time  0.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir NORTH  loc 1037,1590  DistToNext 50.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir NORTH  loc 1037,1640  DistToNext 0.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
   [ 2]     qtv    move PORT_TURN   dir NORTH_WEST  loc 1037,1640  DistToNext 50.000000
    Speed 0, FLAG 1
     time  0.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir NORTH_WEST  loc 1051,850  DistToNext 0.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move PORT_TURN   dir WEST  loc 1051,850  DistToNext 100.000000
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move FORWARD   dir WEST  loc 951,850  DistToNext 81.000000
    Speed 1, FLAG 1
     time 180.00   tot 180.00
   [ 3]     qtv    move FORWARD   dir WEST  loc 1032,850  DistToNext 0.000000
    Speed 1, FLAG 2
     time 145.80   tot 325.80
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir NORTH_WEST  loc 954,987  DistToNext 0.000000
    Speed 6, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move PORT_TURN   dir WEST  loc 954,987  DistToNext 40.000000
    Speed 6, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move FORWARD   dir WEST  loc 914,987  DistToNext 0.000000
    Speed 4, FLAG 1
     time 18.00   tot 18.00
   [ 3]     qtv    move PORT_TURN   dir SOUTH_WEST  loc 914,987  DistToNext 41.012192
    Speed 4, FLAG 1
     time  0.00   tot 18.00
   [ 4]     qtv    move FORWARD   dir SOUTH_WEST  loc 885,958  DistToNext 0.000000
    Speed 2, FLAG 1
     time 36.91   tot 54.91
   [ 5]     qtv    move PORT_TURN   dir SOUTH  loc 885,958  DistToNext 0.000000
    Speed 2, FLAG 1
     time  0.00   tot 54.91
   [ 6]     qtv    move PORT_TURN   dir SOUTH_EAST  loc 885,958  DistToNext 41.012192
    Speed 0, FLAG 1
     time  0.00   tot 54.91
   [ 7]     qtv    move FORWARD   dir SOUTH_EAST  loc 914,929  DistToNext 0.000000
    Speed 2, FLAG 1
     time 36.91   tot 91.82
   [ 8]     qtv    move STBD_TURN   dir SOUTH  loc 914,929  DistToNext 24.493904
    Speed 2, FLAG 1
     time  0.00   tot 91.82
   [ 9]     qtv    move FORWARD   dir SOUTH  loc 914,953  DistToNext 0.000000
    Speed -1, FLAG 1
     time 88.18   tot 180.00
   [10]     qtv    move PORT_TURN   dir SOUTH_EAST  loc 914,953  DistToNext 24.493904
    Speed 0, FLAG 1
     time  0.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir SOUTH_EAST  loc 1021,979  DistToNext 39.597980
    Speed 2, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir SOUTH_EAST  loc 1049,951  DistToNext 0.000000
    Speed 2, FLAG 1
     time 35.64   tot 35.64
   [ 2]     qtv    move PORT_TURN   dir EAST  loc 1049,951  DistToNext 40.000000
    Speed 0, FLAG 1
     time  0.00   tot 35.64
   [ 3]     qtv    move FORWARD   dir EAST  loc 1089,951  DistToNext 0.000000
    Speed 5, FLAG 1
     time 14.40   tot 50.04
   [ 4]     qtv    move PORT_TURN   dir NORTH_EAST  loc 1089,951  DistToNext 39.597980
    Speed 0, FLAG 1
     time  0.00   tot 50.04
   [ 5]     qtv    move FORWARD   dir NORTH_EAST  loc 1117,979  DistToNext 0.000000
    Speed 8, FLAG 1
     time  8.91   tot 58.95
   [ 6]     qtv    move PORT_TURN   dir NORTH  loc 1117,979  DistToNext 40.000000
    Speed 0, FLAG 1
     time  0.00   tot 58.95
   [ 7]     qtv    move FORWARD   dir NORTH  loc 1117,1019  DistToNext 0.000000
    Speed 6, FLAG 1
     time 12.00   tot 70.95
   [ 8]     qtv    move PORT_TURN   dir NORTH_WEST  loc 1117,1019  DistToNext 39.597980
    Speed 0, FLAG 1
     time  0.00   tot 70.95
   [ 9]     qtv    move FORWARD   dir NORTH_WEST  loc 1089,1047  DistToNext 0.000000
    Speed 8, FLAG 1
     time  8.91   tot 79.86
   [10]     qtv    move PORT_TURN   dir WEST  loc 1089,1047  DistToNext 40.000000
    Speed 0, FLAG 1
     time  0.00   tot 79.86
   [11]     qtv    move FORWARD   dir WEST  loc 1049,1047  DistToNext 0.000000
    Speed 5, FLAG 1
     time 14.40   tot 94.26
   [12]     qtv    move PORT_TURN   dir SOUTH_WEST  loc 1049,1047  DistToNext 39.597980
    Speed 0, FLAG 1
     time  0.00   tot 94.26
   [13]     qtv    move FORWARD   dir SOUTH_WEST  loc 1021,1019  DistToNext 0.000000
    Speed 2, FLAG 1
     time 35.64   tot 129.89
   [14]     qtv    move PORT_TURN   dir SOUTH  loc 1021,1019  DistToNext 13.917932
    Speed 0, FLAG 1
     time  0.00   tot 129.89
   [15]     qtv    move FORWARD   dir SOUTH  loc 1021,1032  DistToNext 13.917932
    Speed -1, FLAG 1
     time 50.10   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move PORT_TURN   dir WEST  loc 1919,140  DistToNext 50.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir WEST  loc 1919,190  DistToNext 50.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir NORTH  loc 2126,186  DistToNext 50.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir NORTH  loc 2126,236  DistToNext 0.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
   [ 2]     qtv    move PORT_TURN   dir NORTH_WEST  loc 2126,236  DistToNext 50.000000
    Speed 0, FLAG 1
     time  0.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir NORTH  loc 1005,1576  DistToNext 0.000000
    Speed 5, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move PORT_TURN   dir NORTH_WEST  loc 1005,1576  DistToNext 60.811184
    Speed 5, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move FORWARD   dir NORTH_WEST  loc 962,1619  DistToNext 0.000000
    Speed 6, FLAG 1
     time 18.24   tot 18.24
   [ 3]     qtv    move PORT_TURN   dir WEST  loc 962,1619  DistToNext 60.000000
    Speed 6, FLAG 1
     time  0.00   tot 18.24
   [ 4]     qtv    move FORWARD   dir WEST  loc 902,1619  DistToNext 0.000000
    Speed 4, FLAG 1
     time 27.00   tot 45.24
   [ 5]     qtv    move PORT_TURN   dir SOUTH_WEST  loc 902,1619  DistToNext 0.000000
    Speed 4, FLAG 1
     time  0.00   tot 45.24
   [ 6]     qtv    move PORT_TURN   dir SOUTH  loc 902,1619  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot 45.24
   [ 7]     qtv    move FORWARD   dir SOUTH  loc 902,1559  DistToNext 0.000000
    Speed 4, FLAG 1
     time 27.00   tot 72.24
   [ 8]     qtv    move STBD_TURN   dir SOUTH_WEST  loc 902,1559  DistToNext 118.793938
    Speed 4, FLAG 1
     time  0.00   tot 72.24
   [ 9]     qtv    move FORWARD   dir SOUTH_WEST  loc 818,1475  DistToNext 0.000000
    Speed 2, FLAG 1
     time 106.91   tot 179.16
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir NORTH  loc 1141,932  DistToNext 0.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move BACK_SAIL   dir NORTH_WEST  loc 1141,932  DistToNext 59.396969
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move PORT_TURN   dir NORTH_WEST  loc 1141,932  DistToNext 59.396969
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 3]     qtv    move FORWARD   dir NORTH_WEST  loc 1099,974  DistToNext 0.000000
    Speed 1, FLAG 1
     time 106.91   tot 106.91
   [ 4]     qtv    move PORT_TURN   dir WEST  loc 1099,974  DistToNext 29.000000
    Speed 0, FLAG 1
     time  0.00   tot 106.91
   [ 5]     qtv    move FORWARD   dir WEST  loc 1070,974  DistToNext 1.000000
    Speed 1, FLAG 1
     time 52.20   tot 159.11
   [ 6]     qtv    move FORWARD   dir WEST  loc 1069,974  DistToNext 0.000000
    Speed 1, FLAG 2
     time  1.80   tot 160.91
   [ 7]     qtv    move NO_DIRECTION   dir WEST  loc 1069,974  DistToNext 70.000000
    Speed 0, FLAG 1
     time  0.00   tot 160.91
  End Path <===
* ==> Start Path
   [ 0]     qtv    move STBD_TURN   dir EAST  loc 1163,776  DistToNext 50.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir EAST  loc 1163,826  DistToNext 50.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move STBD_TURN   dir SOUTH_EAST  loc 1715,357  DistToNext 50.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir SOUTH_EAST  loc 1715,407  DistToNext 50.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir NORTH_EAST  loc 1252,1014  DistToNext 0.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move PORT_TURN   dir NORTH  loc 1252,1014  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move FORWARD   dir NORTH  loc 1252,1074  DistToNext 0.000000
    Speed 1, FLAG 1
     time 108.00   tot 108.00
   [ 3]     qtv    move PORT_TURN   dir NORTH_WEST  loc 1252,1074  DistToNext 39.597980
    Speed 0, FLAG 1
     time  0.00   tot 108.00
   [ 4]     qtv    move FORWARD   dir NORTH_WEST  loc 1224,1102  DistToNext 19.798990
    Speed 1, FLAG 1
     time 71.28   tot 179.27
   [ 5]     qtv    move FORWARD   dir NORTH_WEST  loc 1238,1088  DistToNext 0.000000
    Speed 1, FLAG 2
     time 35.64   tot 214.91
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir WEST  loc 920,1027  DistToNext 50.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir WEST  loc 920,1077  DistToNext 50.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move PORT_TURN   dir SOUTH_WEST  loc 1985,-575  DistToNext 50.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir SOUTH_WEST  loc 1985,-525  DistToNext 50.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move STBD_TURN   dir WEST  loc 741,1210  DistToNext 50.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir WEST  loc 741,1260  DistToNext 0.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
   [ 2]     qtv    move PORT_TURN   dir SOUTH_WEST  loc 741,1260  DistToNext 50.000000
    Speed 0, FLAG 1
     time  0.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir NORTH  loc 1060,977  DistToNext 50.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir NORTH  loc 1060,1027  DistToNext 0.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
   [ 2]     qtv    move PORT_TURN   dir NORTH_WEST  loc 1060,1027  DistToNext 50.000000
    Speed 0, FLAG 1
     time  0.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move STBD_TURN   dir NORTH  loc 1455,194  DistToNext 50.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir NORTH  loc 1455,244  DistToNext 0.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
   [ 2]     qtv    move PORT_TURN   dir NORTH_WEST  loc 1455,244  DistToNext 50.000000
    Speed 0, FLAG 1
     time  0.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir NORTH  loc 1037,1639  DistToNext 50.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir NORTH  loc 1037,1689  DistToNext 0.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
   [ 2]     qtv    move PORT_TURN   dir NORTH_WEST  loc 1037,1689  DistToNext 50.000000
    Speed 0, FLAG 1
     time  0.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir WEST  loc 951,850  DistToNext 0.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move STBD_TURN   dir NORTH_WEST  loc 951,850  DistToNext 98.994949
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move FORWARD   dir NORTH_WEST  loc 881,920  DistToNext 79.195961
    Speed 1, FLAG 1
     time 178.19   tot 178.19
   [ 3]     qtv    move FORWARD   dir NORTH_WEST  loc 937,864  DistToNext 0.000000
    Speed 1, FLAG 2
     time 142.55   tot 320.74
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir WEST  loc 954,1036  DistToNext 0.000000
    Speed 4, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move PORT_TURN   dir SOUTH_WEST  loc 954,1036  DistToNext 199.404114
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move FORWARD   dir SOUTH_WEST  loc 813,895  DistToNext 0.000000
    Speed 2, FLAG 1
     time 179.46   tot 179.46
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir SOUTH_EAST  loc 941,1104  DistToNext 39.597980
    Speed 2, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir SOUTH_EAST  loc 969,1076  DistToNext 0.000000
    Speed 2, FLAG 1
     time 35.64   tot 35.64
   [ 2]     qtv    move PORT_TURN   dir EAST  loc 969,1076  DistToNext 40.000000
    Speed 0, FLAG 1
     time  0.00   tot 35.64
   [ 3]     qtv    move FORWARD   dir EAST  loc 1009,1076  DistToNext 0.000000
    Speed 5, FLAG 1
     time 14.40   tot 50.04
   [ 4]     qtv    move PORT_TURN   dir NORTH_EAST  loc 1009,1076  DistToNext 39.597980
    Speed 0, FLAG 1
     time  0.00   tot 50.04
   [ 5]     qtv    move FORWARD   dir NORTH_EAST  loc 1037,1104  DistToNext 0.000000
    Speed 8, FLAG 1
     time  8.91   tot 58.95
   [ 6]     qtv    move PORT_TURN   dir NORTH  loc 1037,1104  DistToNext 40.000000
    Speed 0, FLAG 1
     time  0.00   tot 58.95
   [ 7]     qtv    move FORWARD   dir NORTH  loc 1037,1144  DistToNext 0.000000
    Speed 6, FLAG 1
     time 12.00   tot 70.95
   [ 8]     qtv    move PORT_TURN   dir NORTH_WEST  loc 1037,1144  DistToNext 39.597980
    Speed 0, FLAG 1
     time  0.00   tot 70.95
   [ 9]     qtv    move FORWARD   dir NORTH_WEST  loc 1009,1172  DistToNext 0.000000
    Speed 8, FLAG 1
     time  8.91   tot 79.86
   [10]     qtv    move PORT_TURN   dir WEST  loc 1009,1172  DistToNext 40.000000
    Speed 0, FLAG 1
     time  0.00   tot 79.86
   [11]     qtv    move FORWARD   dir WEST  loc 969,1172  DistToNext 0.000000
    Speed 5, FLAG 1
     time 14.40   tot 94.26
   [12]     qtv    move PORT_TURN   dir SOUTH_WEST  loc 969,1172  DistToNext 39.597980
    Speed 0, FLAG 1
     time  0.00   tot 94.26
   [13]     qtv    move FORWARD   dir SOUTH_WEST  loc 941,1144  DistToNext 0.000000
    Speed 2, FLAG 1
     time 35.64   tot 129.89
   [14]     qtv    move PORT_TURN   dir SOUTH  loc 941,1144  DistToNext 13.917932
    Speed 0, FLAG 1
     time  0.00   tot 129.89
   [15]     qtv    move FORWARD   dir SOUTH  loc 941,1157  DistToNext 13.917932
    Speed -1, FLAG 1
     time 50.10   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir WEST  loc 1919,190  DistToNext 50.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir WEST  loc 1919,240  DistToNext 0.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
   [ 2]     qtv    move STBD_TURN   dir NORTH_WEST  loc 1919,240  DistToNext 50.000000
    Speed 0, FLAG 1
     time  0.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move PORT_TURN   dir NORTH_WEST  loc 2126,236  DistToNext 50.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir NORTH_WEST  loc 2126,286  DistToNext 0.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
   [ 2]     qtv    move PORT_TURN   dir WEST  loc 2126,286  DistToNext 50.000000
    Speed 0, FLAG 1
     time  0.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir NORTH_WEST  loc 1005,1625  DistToNext 0.000000
    Speed 6, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move PORT_TURN   dir WEST  loc 1005,1625  DistToNext 60.000000
    Speed 6, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move FORWARD   dir WEST  loc 945,1625  DistToNext 0.000000
    Speed 4, FLAG 1
     time 27.00   tot 27.00
   [ 3]     qtv    move PORT_TURN   dir SOUTH_WEST  loc 945,1625  DistToNext 60.811184
    Speed 4, FLAG 1
     time  0.00   tot 27.00
   [ 4]     qtv    move FORWARD   dir SOUTH_WEST  loc 902,1582  DistToNext 0.000000
    Speed 2, FLAG 1
     time 54.73   tot 81.73
   [ 5]     qtv    move PORT_TURN   dir SOUTH  loc 902,1582  DistToNext 0.000000
    Speed 2, FLAG 1
     time  0.00   tot 81.73
   [ 6]     qtv    move PORT_TURN   dir SOUTH_EAST  loc 902,1582  DistToNext 108.894447
    Speed 0, FLAG 1
     time  0.00   tot 81.73
   [ 7]     qtv    move FORWARD   dir SOUTH_EAST  loc 979,1505  DistToNext 36.769554
    Speed 2, FLAG 1
     time 98.00   tot 179.73
   [ 8]     qtv    move FORWARD   dir SOUTH_EAST  loc 953,1531  DistToNext 0.000000
    Speed 2, FLAG 2
     time 33.09   tot 212.83
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir WEST  loc 1003,1080  DistToNext 0.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move BACK_SAIL   dir NORTH_WEST  loc 1003,1080  DistToNext 59.396969
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move STBD_TURN   dir NORTH_WEST  loc 1003,1080  DistToNext 59.396969
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 3]     qtv    move FORWARD   dir NORTH_WEST  loc 961,1122  DistToNext 0.000000
    Speed 1, FLAG 1
     time 106.91   tot 106.91
   [ 4]     qtv    move STBD_TURN   dir NORTH  loc 961,1122  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot 106.91
   [ 5]     qtv    move FORWARD   dir NORTH  loc 961,1182  DistToNext 19.000000
    Speed 1, FLAG 1
     time 108.00   tot 214.91
   [ 6]     qtv    move FORWARD   dir NORTH  loc 961,1201  DistToNext 0.000000
    Speed 1, FLAG 2
     time 34.20   tot 249.11
   [ 7]     qtv    move NO_DIRECTION   dir NORTH  loc 961,1201  DistToNext 21.000000
    Speed 0, FLAG 1
     time  0.00   tot 249.11
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir EAST  loc 1163,826  DistToNext 50.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir EAST  loc 1163,876  DistToNext 50.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir SOUTH_EAST  loc 1715,407  DistToNext 50.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir SOUTH_EAST  loc 1715,457  DistToNext 0.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
   [ 2]     qtv    move PORT_TURN   dir EAST  loc 1715,457  DistToNext 50.000000
    Speed 0, FLAG 1
     time  0.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir NORTH_WEST  loc 1224,1102  DistToNext 0.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move PORT_TURN   dir WEST  loc 1224,1102  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move FORWARD   dir WEST  loc 1164,1102  DistToNext 0.000000
    Speed 1, FLAG 1
     time 108.00   tot 108.00
   [ 3]     qtv    move PORT_TURN   dir SOUTH_WEST  loc 1164,1102  DistToNext 60.811184
    Speed 0, FLAG 1
     time  0.00   tot 108.00
   [ 4]     qtv    move FORWARD   dir SOUTH_WEST  loc 1121,1059  DistToNext 0.000000
    Speed 1, FLAG 1
     time 109.46   tot 217.46
   [ 5]     qtv    move PORT_TURN   dir SOUTH  loc 1121,1059  DistToNext 60.000000
    Speed 1, FLAG 1
     time  0.00   tot 217.46
   [ 6]     qtv    move FORWARD   dir SOUTH  loc 1121,999  DistToNext 0.000000
    Speed 1, FLAG 1
     time 108.00   tot 325.46
   [ 7]     qtv    move PORT_TURN   dir SOUTH_EAST  loc 1121,999  DistToNext 0.000000
    Speed 1, FLAG 1
     time  0.00   tot 325.46
   [ 8]     qtv    move PORT_TURN   dir EAST  loc 1121,999  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot 325.46
   [ 9]     qtv    move FORWARD   dir EAST  loc 1181,999  DistToNext 0.000000
    Speed 1, FLAG 1
     time 108.00   tot 433.46
   [10]     qtv    move STBD_TURN   dir SOUTH_EAST  loc 1181,999  DistToNext 39.597980
    Speed 1, FLAG 1
     time  0.00   tot 433.46
   [11]     qtv    move FORWARD   dir SOUTH_EAST  loc 1209,971  DistToNext 19.798990
    Speed 1, FLAG 1
     time 71.28   tot 504.73
   [12]     qtv    move FORWARD   dir SOUTH_EAST  loc 1195,985  DistToNext 0.000000
    Speed 1, FLAG 2
     time 35.64   tot 540.37
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir WEST  loc 920,1075  DistToNext 50.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir WEST  loc 920,1125  DistToNext 50.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir SOUTH_WEST  loc 1985,-525  DistToNext 50.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir SOUTH_WEST  loc 1985,-475  DistToNext 50.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move PORT_TURN   dir SOUTH_WEST  loc 741,1260  DistToNext 50.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir SOUTH_WEST  loc 741,1310  DistToNext 0.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
   [ 2]     qtv    move STBD_TURN   dir WEST  loc 741,1310  DistToNext 50.000000
    Speed 0, FLAG 1
     time  0.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move PORT_TURN   dir NORTH_WEST  loc 1060,1027  DistToNext 50.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir NORTH_WEST  loc 1060,1077  DistToNext 0.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
   [ 2]     qtv    move STBD_TURN   dir NORTH  loc 1060,1077  DistToNext 50.000000
    Speed 0, FLAG 1
     time  0.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move PORT_TURN   dir NORTH_WEST  loc 1455,244  DistToNext 50.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir NORTH_WEST  loc 1455,294  DistToNext 0.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
   [ 2]     qtv    move PORT_TURN   dir WEST  loc 1455,294  DistToNext 50.000000
    Speed 0, FLAG 1
     time  0.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir NORTH  loc 1037,1687  DistToNext 50.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir NORTH  loc 1037,1737  DistToNext 0.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
   [ 2]     qtv    move STBD_TURN   dir NORTH_EAST  loc 1037,1737  DistToNext 50.000000
    Speed 0, FLAG 1
     time  0.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir NORTH_WEST  loc 881,920  DistToNext 98.994949
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir NORTH_WEST  loc 811,990  DistToNext 79.195961
    Speed 1, FLAG 1
     time 178.19   tot 178.19
   [ 2]     qtv    move FORWARD   dir NORTH_WEST  loc 867,934  DistToNext 0.000000
    Speed 1, FLAG 2
     time 142.55   tot 320.74
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir SOUTH_WEST  loc 954,1085  DistToNext 0.000000
    Speed 2, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move STBD_TURN   dir WEST  loc 954,1085  DistToNext 0.000000
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move PORT_TURN   dir SOUTH_WEST  loc 954,1085  DistToNext 41.012192
    Speed 2, FLAG 1
     time  0.00   tot  0.00
   [ 3]     qtv    move FORWARD   dir SOUTH_WEST  loc 925,1056  DistToNext 0.000000
    Speed 2, FLAG 1
     time 36.91   tot 36.91
   [ 4]     qtv    move PORT_TURN   dir SOUTH  loc 925,1056  DistToNext 40.000000
    Speed 2, FLAG 1
     time  0.00   tot 36.91
   [ 5]     qtv    move FORWARD   dir SOUTH  loc 925,1016  DistToNext 0.000000
    Speed 2, FLAG 1
     time 36.00   tot 72.91
   [ 6]     qtv    move PORT_TURN   dir SOUTH_EAST  loc 925,1016  DistToNext 0.000000
    Speed 2, FLAG 1
     time  0.00   tot 72.91
   [ 7]     qtv    move PORT_TURN   dir EAST  loc 925,1016  DistToNext 40.000000
    Speed 0, FLAG 1
     time  0.00   tot 72.91
   [ 8]     qtv    move FORWARD   dir EAST  loc 965,1016  DistToNext 0.000000
    Speed 3, FLAG 1
     time 24.00   tot 96.91
   [ 9]     qtv    move PORT_TURN   dir NORTH_EAST  loc 965,1016  DistToNext 39.597980
    Speed 3, FLAG 1
     time  0.00   tot 96.91
   [10]     qtv    move FORWARD   dir NORTH_EAST  loc 993,1044  DistToNext 0.000000
    Speed 4, FLAG 1
     time 17.82   tot 114.73
   [11]     qtv    move STBD_TURN   dir EAST  loc 993,1044  DistToNext 40.000000
    Speed 0, FLAG 1
     time  0.00   tot 114.73
   [12]     qtv    move FORWARD   dir EAST  loc 1033,1044  DistToNext 0.000000
    Speed 3, FLAG 1
     time 24.00   tot 138.73
   [13]     qtv    move STBD_TURN   dir SOUTH_EAST  loc 1033,1044  DistToNext 39.597980
    Speed 0, FLAG 1
     time  0.00   tot 138.73
   [14]     qtv    move FORWARD   dir SOUTH_EAST  loc 1061,1016  DistToNext 0.000000
    Speed 2, FLAG 1
     time 35.64   tot 174.37
   [15]     qtv    move STBD_TURN   dir SOUTH  loc 1061,1016  DistToNext 1.564373
    Speed 0, FLAG 1
     time  0.00   tot 174.37
   [16]     qtv    move FORWARD   dir SOUTH  loc 1061,1017  DistToNext 1.564373
    Speed -1, FLAG 1
     time  5.63   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir EAST  loc 967,1118  DistToNext 0.000000
    Speed 4, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move STBD_TURN   dir SOUTH_EAST  loc 967,1118  DistToNext 41.012192
    Speed 4, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move FORWARD   dir SOUTH_EAST  loc 996,1089  DistToNext 0.000000
    Speed 2, FLAG 1
     time 36.91   tot 36.91
   [ 3]     qtv    move STBD_TURN   dir SOUTH  loc 996,1089  DistToNext 40.000000
    Speed 2, FLAG 1
     time  0.00   tot 36.91
   [ 4]     qtv    move FORWARD   dir SOUTH  loc 996,1049  DistToNext 0.000000
    Speed 2, FLAG 1
     time 36.00   tot 72.91
   [ 5]     qtv    move STBD_TURN   dir SOUTH_WEST  loc 996,1049  DistToNext 0.000000
    Speed 2, FLAG 1
     time  0.00   tot 72.91
   [ 6]     qtv    move STBD_TURN   dir WEST  loc 996,1049  DistToNext 40.000000
    Speed 0, FLAG 1
     time  0.00   tot 72.91
   [ 7]     qtv    move FORWARD   dir WEST  loc 956,1049  DistToNext 0.000000
    Speed 4, FLAG 1
     time 18.00   tot 90.91
   [ 8]     qtv    move PORT_TURN   dir SOUTH_WEST  loc 956,1049  DistToNext 39.597980
    Speed 4, FLAG 1
     time  0.00   tot 90.91
   [ 9]     qtv    move FORWARD   dir SOUTH_WEST  loc 928,1021  DistToNext 0.000000
    Speed 2, FLAG 1
     time 35.64   tot 126.55
   [10]     qtv    move PORT_TURN   dir SOUTH  loc 928,1021  DistToNext 40.000000
    Speed 0, FLAG 1
     time  0.00   tot 126.55
   [11]     qtv    move FORWARD   dir SOUTH  loc 928,981  DistToNext 0.000000
    Speed 0, FLAG 1
     time   inf   tot   inf
   [12]     qtv    move PORT_TURN   dir SOUTH_EAST  loc 928,981  DistToNext 41.012192
    Speed 0, FLAG 1
     time  0.00   tot   inf
   [13]     qtv    move FORWARD   dir SOUTH_EAST  loc 957,952  DistToNext 0.000000
    Speed 2, FLAG 1
     time 36.91   tot   inf
   [14]     qtv    move PORT_TURN   dir EAST  loc 957,952  DistToNext 0.000000
    Speed 2, FLAG 1
     time  0.00   tot   inf
   [15]     qtv    move PORT_TURN   dir NORTH_EAST  loc 957,952  DistToNext 41.012192
    Speed 0, FLAG 1
     time  0.00   tot   inf
   [16]     qtv    move FORWARD   dir NORTH_EAST  loc 986,981  DistToNext 0.000000
    Speed 6, FLAG 1
     time 12.30   tot   inf
   [17]     qtv    move STBD_TURN   dir EAST  loc 986,981  DistToNext 40.000000
    Speed 6, FLAG 1
     time  0.00   tot   inf
   [18]     qtv    move FORWARD   dir EAST  loc 1026,981  DistToNext 0.000000
    Speed 4, FLAG 1
     time 18.00   tot   inf
   [19]     qtv    move STBD_TURN   dir SOUTH_EAST  loc 1026,981  DistToNext 41.012192
    Speed 0, FLAG 1
     time  0.00   tot   inf
   [20]     qtv    move FORWARD   dir SOUTH_EAST  loc 1055,952  DistToNext 0.000000
    Speed 2, FLAG 1
     time 36.91   tot   inf
   [21]     qtv    move STBD_TURN   dir SOUTH  loc 1055,952  DistToNext 40.000000
    Speed 2, FLAG 1
     time  0.00   tot   inf
   [22]     qtv    move FORWARD   dir SOUTH  loc 1055,912  DistToNext 0.000000
    Speed 2, FLAG 1
     time 36.00   tot   inf
   [23]     qtv    move STBD_TURN   dir SOUTH_WEST  loc 1055,912  DistToNext 0.000000
    Speed 2, FLAG 1
     time  0.00   tot   inf
   [24]     qtv    move STBD_TURN   dir WEST  loc 1055,912  DistToNext 40.000000
    Speed 0, FLAG 1
     time  0.00   tot   inf
   [25]     qtv    move FORWARD   dir WEST  loc 1015,912  DistToNext 0.000000
    Speed 4, FLAG 1
     time 18.00   tot   inf
   [26]     qtv    move STBD_TURN   dir NORTH_WEST  loc 1015,912  DistToNext 39.597980
    Speed 4, FLAG 1
     time  0.00   tot   inf
   [27]     qtv    move FORWARD   dir NORTH_WEST  loc 987,940  DistToNext 0.000000
    Speed 6, FLAG 1
     time 11.88   tot   inf
   [28]     qtv    move PORT_TURN   dir WEST  loc 987,940  DistToNext 40.000000
    Speed 0, FLAG 1
     time  0.00   tot   inf
   [29]     qtv    move FORWARD   dir WEST  loc 947,940  DistToNext 0.000000
    Speed 4, FLAG 1
     time 18.00   tot   inf
   [30]     qtv    move PORT_TURN   dir SOUTH_WEST  loc 947,940  DistToNext 41.012192
    Speed 4, FLAG 1
     time  0.00   tot   inf
   [31]     qtv    move FORWARD   dir SOUTH_WEST  loc 918,911  DistToNext 0.000000
    Speed 2, FLAG 1
     time 36.91   tot   inf
   [32]     qtv    move PORT_TURN   dir SOUTH  loc 918,911  DistToNext 0.000000
    Speed 2, FLAG 1
     time  0.00   tot   inf
   [33]     qtv    move PORT_TURN   dir SOUTH_EAST  loc 918,911  DistToNext 41.012192
    Speed 0, FLAG 1
     time  0.00   tot   inf
   [34]     qtv    move FORWARD   dir SOUTH_EAST  loc 947,882  DistToNext 0.000000
    Speed 2, FLAG 1
     time 36.91   tot   inf
   [35]     qtv    move STBD_TURN   dir SOUTH  loc 947,882  DistToNext -inf
    Speed 2, FLAG 1
     time  0.00   tot   inf
   [36]     qtv    move FORWARD   dir SOUTH  loc 947,-2147482766  DistToNext -inf
    Speed -1, FLAG 1
     time  -inf   tot  -nan
  End Path <===
* ==> Start Path
   [ 0]     qtv    move STBD_TURN   dir NORTH_WEST  loc 1919,240  DistToNext 50.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir NORTH_WEST  loc 1919,290  DistToNext 0.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
   [ 2]     qtv    move PORT_TURN   dir WEST  loc 1919,290  DistToNext 50.000000
    Speed 0, FLAG 1
     time  0.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move PORT_TURN   dir WEST  loc 2126,286  DistToNext 50.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir WEST  loc 2126,336  DistToNext 0.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
   [ 2]     qtv    move STBD_TURN   dir NORTH_WEST  loc 2126,336  DistToNext 50.000000
    Speed 0, FLAG 1
     time  0.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir WEST  loc 915,1764  DistToNext 0.000000
    Speed 2, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move STBD_TURN   dir NORTH_WEST  loc 915,1764  DistToNext 59.396969
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move FORWARD   dir NORTH_WEST  loc 873,1806  DistToNext 0.000000
    Speed 3, FLAG 1
     time 35.64   tot 35.64
   [ 3]     qtv    move STBD_TURN   dir NORTH  loc 873,1806  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot 35.64
   [ 4]     qtv    move FORWARD   dir NORTH  loc 873,1866  DistToNext 0.000000
    Speed 3, FLAG 1
     time 36.00   tot 71.64
   [ 5]     qtv    move STBD_TURN   dir NORTH_EAST  loc 873,1866  DistToNext 59.396969
    Speed 0, FLAG 1
     time  0.00   tot 71.64
   [ 6]     qtv    move FORWARD   dir NORTH_EAST  loc 915,1908  DistToNext 0.000000
    Speed 3, FLAG 1
     time 35.64   tot 107.28
   [ 7]     qtv    move STBD_TURN   dir EAST  loc 915,1908  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot 107.28
   [ 8]     qtv    move FORWARD   dir EAST  loc 975,1908  DistToNext 0.000000
    Speed 2, FLAG 1
     time 54.00   tot 161.28
   [ 9]     qtv    move STBD_TURN   dir SOUTH_EAST  loc 975,1908  DistToNext 9.899495
    Speed 0, FLAG 1
     time  0.00   tot 161.28
   [10]     qtv    move FORWARD   dir SOUTH_EAST  loc 982,1901  DistToNext 39.597980
    Speed 1, FLAG 1
     time 17.82   tot 179.09
   [11]     qtv    move FORWARD   dir SOUTH_EAST  loc 1010,1873  DistToNext 0.000000
    Speed 1, FLAG 2
     time 71.28   tot 250.37
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir NORTH_WEST  loc 899,1222  DistToNext 0.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move STBD_TURN   dir NORTH  loc 899,1222  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move FORWARD   dir NORTH  loc 899,1282  DistToNext 0.000000
    Speed 1, FLAG 1
     time 108.00   tot 108.00
   [ 3]     qtv    move STBD_TURN   dir NORTH_EAST  loc 899,1282  DistToNext 39.597980
    Speed 0, FLAG 1
     time  0.00   tot 108.00
   [ 4]     qtv    move FORWARD   dir NORTH_EAST  loc 927,1310  DistToNext 19.798990
    Speed 1, FLAG 1
     time 71.28   tot 179.27
   [ 5]     qtv    move FORWARD   dir NORTH_EAST  loc 913,1296  DistToNext 0.000000
    Speed 1, FLAG 2
     time 35.64   tot 214.91
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir EAST  loc 1163,876  DistToNext 50.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir EAST  loc 1163,926  DistToNext 50.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move PORT_TURN   dir EAST  loc 1715,457  DistToNext 50.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir EAST  loc 1715,507  DistToNext 0.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
   [ 2]     qtv    move PORT_TURN   dir NORTH_EAST  loc 1715,507  DistToNext 50.000000
    Speed 0, FLAG 1
     time  0.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir SOUTH_WEST  loc 1209,971  DistToNext 0.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move STBD_TURN   dir WEST  loc 1209,971  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move FORWARD   dir WEST  loc 1149,971  DistToNext 0.000000
    Speed 1, FLAG 1
     time 108.00   tot 108.00
   [ 3]     qtv    move STBD_TURN   dir NORTH_WEST  loc 1149,971  DistToNext 39.597980
    Speed 0, FLAG 1
     time  0.00   tot 108.00
   [ 4]     qtv    move FORWARD   dir NORTH_WEST  loc 1121,999  DistToNext 19.798990
    Speed 1, FLAG 1
     time 71.28   tot 179.27
   [ 5]     qtv    move FORWARD   dir NORTH_WEST  loc 1135,985  DistToNext 0.000000
    Speed 1, FLAG 2
     time 35.64   tot 214.91
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir WEST  loc 920,1123  DistToNext 50.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir WEST  loc 920,1173  DistToNext 50.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir SOUTH_WEST  loc 1985,-475  DistToNext 50.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir SOUTH_WEST  loc 1985,-425  DistToNext 50.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move STBD_TURN   dir WEST  loc 741,1310  DistToNext 50.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir WEST  loc 741,1360  DistToNext 0.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
   [ 2]     qtv    move STBD_TURN   dir NORTH_WEST  loc 741,1360  DistToNext 50.000000
    Speed 0, FLAG 1
     time  0.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move STBD_TURN   dir NORTH  loc 1060,1077  DistToNext 50.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir NORTH  loc 1060,1127  DistToNext 0.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
   [ 2]     qtv    move STBD_TURN   dir NORTH_EAST  loc 1060,1127  DistToNext 50.000000
    Speed 0, FLAG 1
     time  0.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move PORT_TURN   dir WEST  loc 1455,294  DistToNext 50.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir WEST  loc 1455,344  DistToNext 0.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
   [ 2]     qtv    move PORT_TURN   dir SOUTH_WEST  loc 1455,344  DistToNext 50.000000
    Speed 0, FLAG 1
     time  0.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move STBD_TURN   dir NORTH_EAST  loc 1037,1737  DistToNext 50.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir NORTH_EAST  loc 1037,1787  DistToNext 0.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
   [ 2]     qtv    move PORT_TURN   dir NORTH  loc 1037,1787  DistToNext 50.000000
    Speed 0, FLAG 1
     time  0.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir NORTH_WEST  loc 811,990  DistToNext 98.994949
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir NORTH_WEST  loc 741,1060  DistToNext 79.195961
    Speed 1, FLAG 1
     time 178.19   tot 178.19
   [ 2]     qtv    move FORWARD   dir NORTH_WEST  loc 797,1004  DistToNext 0.000000
    Speed 1, FLAG 2
     time 142.55   tot 320.74
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir SOUTH_WEST  loc 954,1134  DistToNext 0.000000
    Speed 2, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move STBD_TURN   dir WEST  loc 954,1134  DistToNext 0.000000
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move PORT_TURN   dir SOUTH_WEST  loc 954,1134  DistToNext 41.012192
    Speed 2, FLAG 1
     time  0.00   tot  0.00
   [ 3]     qtv    move FORWARD   dir SOUTH_WEST  loc 925,1105  DistToNext 0.000000
    Speed 2, FLAG 1
     time 36.91   tot 36.91
   [ 4]     qtv    move PORT_TURN   dir SOUTH  loc 925,1105  DistToNext 40.000000
    Speed 2, FLAG 1
     time  0.00   tot 36.91
   [ 5]     qtv    move FORWARD   dir SOUTH  loc 925,1065  DistToNext 0.000000
    Speed 2, FLAG 1
     time 36.00   tot 72.91
   [ 6]     qtv    move PORT_TURN   dir SOUTH_EAST  loc 925,1065  DistToNext 0.000000
    Speed 2, FLAG 1
     time  0.00   tot 72.91
   [ 7]     qtv    move PORT_TURN   dir EAST  loc 925,1065  DistToNext 40.000000
    Speed 0, FLAG 1
     time  0.00   tot 72.91
   [ 8]     qtv    move FORWARD   dir EAST  loc 965,1065  DistToNext 0.000000
    Speed 3, FLAG 1
     time 24.00   tot 96.91
   [ 9]     qtv    move PORT_TURN   dir NORTH_EAST  loc 965,1065  DistToNext 39.597980
    Speed 3, FLAG 1
     time  0.00   tot 96.91
   [10]     qtv    move FORWARD   dir NORTH_EAST  loc 993,1093  DistToNext 0.000000
    Speed 4, FLAG 1
     time 17.82   tot 114.73
   [11]     qtv    move STBD_TURN   dir EAST  loc 993,1093  DistToNext 40.000000
    Speed 0, FLAG 1
     time  0.00   tot 114.73
   [12]     qtv    move FORWARD   dir EAST  loc 1033,1093  DistToNext 0.000000
    Speed 3, FLAG 1
     time 24.00   tot 138.73
   [13]     qtv    move STBD_TURN   dir SOUTH_EAST  loc 1033,1093  DistToNext 39.597980
    Speed 0, FLAG 1
     time  0.00   tot 138.73
   [14]     qtv    move FORWARD   dir SOUTH_EAST  loc 1061,1065  DistToNext 0.000000
    Speed 2, FLAG 1
     time 35.64   tot 174.37
   [15]     qtv    move STBD_TURN   dir SOUTH  loc 1061,1065  DistToNext 1.564373
    Speed 0, FLAG 1
     time  0.00   tot 174.37
   [16]     qtv    move FORWARD   dir SOUTH  loc 1061,1066  DistToNext 0.000000
    Speed -1, FLAG 1
     time  5.63   tot 180.00
   [17]     qtv    move STBD_TURN   dir SOUTH_WEST  loc 1061,1066  DistToNext 1.564373
    Speed 0, FLAG 1
     time  0.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir SOUTH_EAST  loc 976,1155  DistToNext 0.000000
    Speed 2, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move PORT_TURN   dir EAST  loc 976,1155  DistToNext 0.000000
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move STBD_TURN   dir SOUTH_EAST  loc 976,1155  DistToNext 41.012192
    Speed 2, FLAG 1
     time  0.00   tot  0.00
   [ 3]     qtv    move FORWARD   dir SOUTH_EAST  loc 1005,1126  DistToNext 0.000000
    Speed 2, FLAG 1
     time 36.91   tot 36.91
   [ 4]     qtv    move STBD_TURN   dir SOUTH  loc 1005,1126  DistToNext 40.000000
    Speed 2, FLAG 1
     time  0.00   tot 36.91
   [ 5]     qtv    move FORWARD   dir SOUTH  loc 1005,1086  DistToNext 0.000000
    Speed 2, FLAG 1
     time 36.00   tot 72.91
   [ 6]     qtv    move STBD_TURN   dir SOUTH_WEST  loc 1005,1086  DistToNext 0.000000
    Speed 2, FLAG 1
     time  0.00   tot 72.91
   [ 7]     qtv    move STBD_TURN   dir WEST  loc 1005,1086  DistToNext 40.000000
    Speed 0, FLAG 1
     time  0.00   tot 72.91
   [ 8]     qtv    move FORWARD   dir WEST  loc 965,1086  DistToNext 0.000000
    Speed 4, FLAG 1
     time 18.00   tot 90.91
   [ 9]     qtv    move PORT_TURN   dir SOUTH_WEST  loc 965,1086  DistToNext 39.597980
    Speed 4, FLAG 1
     time  0.00   tot 90.91
   [10]     qtv    move FORWARD   dir SOUTH_WEST  loc 937,1058  DistToNext 0.000000
    Speed 2, FLAG 1
     time 35.64   tot 126.55
   [11]     qtv    move PORT_TURN   dir SOUTH  loc 937,1058  DistToNext 14.847459
    Speed 0, FLAG 1
     time  0.00   tot 126.55
   [12]     qtv    move FORWARD   dir SOUTH  loc 937,1072  DistToNext 0.000000
    Speed -1, FLAG 1
     time 53.45   tot 180.00
   [13]     qtv    move PORT_TURN   dir SOUTH_EAST  loc 937,1072  DistToNext 14.847459
    Speed 0, FLAG 1
     time  0.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move PORT_TURN   dir WEST  loc 1919,290  DistToNext 50.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir WEST  loc 1919,340  DistToNext 0.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
   [ 2]     qtv    move STBD_TURN   dir NORTH_WEST  loc 1919,340  DistToNext 50.000000
    Speed 0, FLAG 1
     time  0.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move STBD_TURN   dir NORTH_WEST  loc 2126,336  DistToNext 50.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir NORTH_WEST  loc 2126,386  DistToNext 50.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir SOUTH_EAST  loc 982,1901  DistToNext 0.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move PORT_TURN   dir EAST  loc 982,1901  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move FORWARD   dir EAST  loc 1042,1901  DistToNext 0.000000
    Speed 2, FLAG 1
     time 54.00   tot 54.00
   [ 3]     qtv    move PORT_TURN   dir NORTH_EAST  loc 1042,1901  DistToNext 59.396969
    Speed 0, FLAG 1
     time  0.00   tot 54.00
   [ 4]     qtv    move FORWARD   dir NORTH_EAST  loc 1084,1943  DistToNext 0.000000
    Speed 3, FLAG 1
     time 35.64   tot 89.64
   [ 5]     qtv    move PORT_TURN   dir NORTH  loc 1084,1943  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot 89.64
   [ 6]     qtv    move FORWARD   dir NORTH  loc 1084,2003  DistToNext 0.000000
    Speed 3, FLAG 1
     time 36.00   tot 125.64
   [ 7]     qtv    move PORT_TURN   dir NORTH_WEST  loc 1084,2003  DistToNext 59.396969
    Speed 0, FLAG 1
     time  0.00   tot 125.64
   [ 8]     qtv    move FORWARD   dir NORTH_WEST  loc 1042,2045  DistToNext 0.000000
    Speed 3, FLAG 1
     time 35.64   tot 161.28
   [ 9]     qtv    move PORT_TURN   dir WEST  loc 1042,2045  DistToNext 20.000000
    Speed 0, FLAG 1
     time  0.00   tot 161.28
   [10]     qtv    move FORWARD   dir WEST  loc 1022,2045  DistToNext 19.000000
    Speed 2, FLAG 1
     time 18.00   tot 179.27
   [11]     qtv    move FORWARD   dir WEST  loc 1003,2045  DistToNext 0.000000
    Speed 2, FLAG 2
     time 17.10   tot 196.37
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir NORTH_EAST  loc 927,1310  DistToNext 0.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move PORT_TURN   dir NORTH  loc 927,1310  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move FORWARD   dir NORTH  loc 927,1370  DistToNext 0.000000
    Speed 1, FLAG 1
     time 108.00   tot 108.00
   [ 3]     qtv    move PORT_TURN   dir NORTH_WEST  loc 927,1370  DistToNext 39.597980
    Speed 0, FLAG 1
     time  0.00   tot 108.00
   [ 4]     qtv    move FORWARD   dir NORTH_WEST  loc 899,1398  DistToNext 19.798990
    Speed 1, FLAG 1
     time 71.28   tot 179.27
   [ 5]     qtv    move FORWARD   dir NORTH_WEST  loc 913,1384  DistToNext 0.000000
    Speed 1, FLAG 2
     time 35.64   tot 214.91
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir EAST  loc 1163,926  DistToNext 50.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir EAST  loc 1163,976  DistToNext 0.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
   [ 2]     qtv    move STBD_TURN   dir SOUTH_EAST  loc 1163,976  DistToNext 50.000000
    Speed 0, FLAG 1
     time  0.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move PORT_TURN   dir NORTH_EAST  loc 1715,507  DistToNext 50.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir NORTH_EAST  loc 1715,557  DistToNext 0.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
   [ 2]     qtv    move STBD_TURN   dir EAST  loc 1715,557  DistToNext 50.000000
    Speed 0, FLAG 1
     time  0.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir NORTH_WEST  loc 1121,999  DistToNext 0.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move PORT_TURN   dir WEST  loc 1121,999  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move FORWARD   dir WEST  loc 1061,999  DistToNext 0.000000
    Speed 1, FLAG 1
     time 108.00   tot 108.00
   [ 3]     qtv    move PORT_TURN   dir SOUTH_WEST  loc 1061,999  DistToNext 60.811184
    Speed 0, FLAG 1
     time  0.00   tot 108.00
   [ 4]     qtv    move FORWARD   dir SOUTH_WEST  loc 1018,956  DistToNext 0.000000
    Speed 1, FLAG 1
     time 109.46   tot 217.46
   [ 5]     qtv    move PORT_TURN   dir SOUTH  loc 1018,956  DistToNext 60.000000
    Speed 1, FLAG 1
     time  0.00   tot 217.46
   [ 6]     qtv    move FORWARD   dir SOUTH  loc 1018,896  DistToNext 0.000000
    Speed 1, FLAG 1
     time 108.00   tot 325.46
   [ 7]     qtv    move PORT_TURN   dir SOUTH_EAST  loc 1018,896  DistToNext 0.000000
    Speed 1, FLAG 1
     time  0.00   tot 325.46
   [ 8]     qtv    move PORT_TURN   dir EAST  loc 1018,896  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot 325.46
   [ 9]     qtv    move FORWARD   dir EAST  loc 1078,896  DistToNext 0.000000
    Speed 1, FLAG 1
     time 108.00   tot 433.46
   [10]     qtv    move STBD_TURN   dir SOUTH_EAST  loc 1078,896  DistToNext 39.597980
    Speed 1, FLAG 1
     time  0.00   tot 433.46
   [11]     qtv    move FORWARD   dir SOUTH_EAST  loc 1106,868  DistToNext 19.798990
    Speed 1, FLAG 1
     time 71.28   tot 504.73
   [12]     qtv    move FORWARD   dir SOUTH_EAST  loc 1092,882  DistToNext 0.000000
    Speed 1, FLAG 2
     time 35.64   tot 540.37
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir WEST  loc 920,1171  DistToNext 50.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir WEST  loc 920,1221  DistToNext 50.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir SOUTH_WEST  loc 1985,-425  DistToNext 50.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir SOUTH_WEST  loc 1985,-375  DistToNext 0.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
   [ 2]     qtv    move STBD_TURN   dir WEST  loc 1985,-375  DistToNext 50.000000
    Speed 0, FLAG 1
     time  0.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move STBD_TURN   dir NORTH_WEST  loc 741,1360  DistToNext 50.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir NORTH_WEST  loc 741,1410  DistToNext 0.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
   [ 2]     qtv    move PORT_TURN   dir WEST  loc 741,1410  DistToNext 50.000000
    Speed 0, FLAG 1
     time  0.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move STBD_TURN   dir NORTH_EAST  loc 1060,1127  DistToNext 50.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir NORTH_EAST  loc 1060,1177  DistToNext 0.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
   [ 2]     qtv    move PORT_TURN   dir NORTH  loc 1060,1177  DistToNext 50.000000
    Speed 0, FLAG 1
     time  0.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move PORT_TURN   dir SOUTH_WEST  loc 1455,344  DistToNext 50.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir SOUTH_WEST  loc 1455,394  DistToNext 50.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move PORT_TURN   dir NORTH  loc 1037,1787  DistToNext 50.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir NORTH  loc 1037,1837  DistToNext 0.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
   [ 2]     qtv    move PORT_TURN   dir NORTH_WEST  loc 1037,1837  DistToNext 50.000000
    Speed 0, FLAG 1
     time  0.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir NORTH_WEST  loc 741,1060  DistToNext 98.994949
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir NORTH_WEST  loc 671,1130  DistToNext 79.195961
    Speed 1, FLAG 1
     time 178.19   tot 178.19
   [ 2]     qtv    move FORWARD   dir NORTH_WEST  loc 727,1074  DistToNext 0.000000
    Speed 1, FLAG 2
     time 142.55   tot 320.74
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir SOUTH_WEST  loc 864,1273  DistToNext 0.000000
    Speed 2, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move STBD_TURN   dir WEST  loc 864,1273  DistToNext 0.000000
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move PORT_TURN   dir SOUTH_WEST  loc 864,1273  DistToNext 41.012192
    Speed 2, FLAG 1
     time  0.00   tot  0.00
   [ 3]     qtv    move FORWARD   dir SOUTH_WEST  loc 835,1244  DistToNext 0.000000
    Speed 2, FLAG 1
     time 36.91   tot 36.91
   [ 4]     qtv    move PORT_TURN   dir SOUTH  loc 835,1244  DistToNext 40.000000
    Speed 2, FLAG 1
     time  0.00   tot 36.91
   [ 5]     qtv    move FORWARD   dir SOUTH  loc 835,1204  DistToNext 0.000000
    Speed 2, FLAG 1
     time 36.00   tot 72.91
   [ 6]     qtv    move PORT_TURN   dir SOUTH_EAST  loc 835,1204  DistToNext 0.000000
    Speed 2, FLAG 1
     time  0.00   tot 72.91
   [ 7]     qtv    move PORT_TURN   dir EAST  loc 835,1204  DistToNext 40.000000
    Speed 0, FLAG 1
     time  0.00   tot 72.91
   [ 8]     qtv    move FORWARD   dir EAST  loc 875,1204  DistToNext 0.000000
    Speed 3, FLAG 1
     time 24.00   tot 96.91
   [ 9]     qtv    move PORT_TURN   dir NORTH_EAST  loc 875,1204  DistToNext 39.597980
    Speed 3, FLAG 1
     time  0.00   tot 96.91
   [10]     qtv    move FORWARD   dir NORTH_EAST  loc 903,1232  DistToNext 0.000000
    Speed 4, FLAG 1
     time 17.82   tot 114.73
   [11]     qtv    move STBD_TURN   dir EAST  loc 903,1232  DistToNext 40.000000
    Speed 0, FLAG 1
     time  0.00   tot 114.73
   [12]     qtv    move FORWARD   dir EAST  loc 943,1232  DistToNext 0.000000
    Speed 3, FLAG 1
     time 24.00   tot 138.73
   [13]     qtv    move STBD_TURN   dir SOUTH_EAST  loc 943,1232  DistToNext 39.597980
    Speed 0, FLAG 1
     time  0.00   tot 138.73
   [14]     qtv    move FORWARD   dir SOUTH_EAST  loc 971,1204  DistToNext 0.000000
    Speed 2, FLAG 1
     time 35.64   tot 174.37
   [15]     qtv    move STBD_TURN   dir SOUTH  loc 971,1204  DistToNext 1.564373
    Speed 0, FLAG 1
     time  0.00   tot 174.37
   [16]     qtv    move FORWARD   dir SOUTH  loc 971,1205  DistToNext 1.564373
    Speed -1, FLAG 1
     time  5.63   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir SOUTH_EAST  loc 978,1291  DistToNext 0.000000
    Speed 2, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move PORT_TURN   dir EAST  loc 978,1291  DistToNext 0.000000
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move STBD_TURN   dir SOUTH_EAST  loc 978,1291  DistToNext 41.012192
    Speed 2, FLAG 1
     time  0.00   tot  0.00
   [ 3]     qtv    move FORWARD   dir SOUTH_EAST  loc 1007,1262  DistToNext 0.000000
    Speed 2, FLAG 1
     time 36.91   tot 36.91
   [ 4]     qtv    move STBD_TURN   dir SOUTH  loc 1007,1262  DistToNext 40.000000
    Speed 2, FLAG 1
     time  0.00   tot 36.91
   [ 5]     qtv    move FORWARD   dir SOUTH  loc 1007,1222  DistToNext 0.000000
    Speed 2, FLAG 1
     time 36.00   tot 72.91
   [ 6]     qtv    move STBD_TURN   dir SOUTH_WEST  loc 1007,1222  DistToNext 0.000000
    Speed 2, FLAG 1
     time  0.00   tot 72.91
   [ 7]     qtv    move STBD_TURN   dir WEST  loc 1007,1222  DistToNext 80.000000
    Speed 0, FLAG 1
     time  0.00   tot 72.91
   [ 8]     qtv    move FORWARD   dir WEST  loc 927,1222  DistToNext 0.000000
    Speed 4, FLAG 1
     time 36.00   tot 108.91
   [ 9]     qtv    move PORT_TURN   dir SOUTH_WEST  loc 927,1222  DistToNext 39.597980
    Speed 0, FLAG 1
     time  0.00   tot 108.91
   [10]     qtv    move FORWARD   dir SOUTH_WEST  loc 899,1194  DistToNext 0.000000
    Speed 2, FLAG 1
     time 35.64   tot 144.55
   [11]     qtv    move PORT_TURN   dir SOUTH  loc 899,1194  DistToNext 9.847459
    Speed 0, FLAG 1
     time  0.00   tot 144.55
   [12]     qtv    move FORWARD   dir SOUTH  loc 899,1203  DistToNext 0.000000
    Speed -1, FLAG 1
     time 35.45   tot 180.00
   [13]     qtv    move PORT_TURN   dir SOUTH_EAST  loc 899,1203  DistToNext 9.847459
    Speed 0, FLAG 1
     time  0.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move STBD_TURN   dir NORTH_WEST  loc 1919,340  DistToNext 50.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir NORTH_WEST  loc 1919,390  DistToNext 0.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
   [ 2]     qtv    move PORT_TURN   dir WEST  loc 1919,390  DistToNext 50.000000
    Speed 0, FLAG 1
     time  0.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir NORTH_WEST  loc 2126,386  DistToNext 50.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir NORTH_WEST  loc 2126,436  DistToNext 0.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
   [ 2]     qtv    move STBD_TURN   dir NORTH  loc 2126,436  DistToNext 50.000000
    Speed 0, FLAG 1
     time  0.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir WEST  loc 1022,2045  DistToNext 0.000000
    Speed 2, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move STBD_TURN   dir NORTH_WEST  loc 1022,2045  DistToNext 59.396969
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move FORWARD   dir NORTH_WEST  loc 980,2087  DistToNext 0.000000
    Speed 3, FLAG 1
     time 35.64   tot 35.64
   [ 3]     qtv    move STBD_TURN   dir NORTH  loc 980,2087  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot 35.64
   [ 4]     qtv    move FORWARD   dir NORTH  loc 980,2147  DistToNext 0.000000
    Speed 3, FLAG 1
     time 36.00   tot 71.64
   [ 5]     qtv    move STBD_TURN   dir NORTH_EAST  loc 980,2147  DistToNext 59.396969
    Speed 0, FLAG 1
     time  0.00   tot 71.64
   [ 6]     qtv    move FORWARD   dir NORTH_EAST  loc 1022,2189  DistToNext 0.000000
    Speed 3, FLAG 1
     time 35.64   tot 107.28
   [ 7]     qtv    move STBD_TURN   dir EAST  loc 1022,2189  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot 107.28
   [ 8]     qtv    move FORWARD   dir EAST  loc 1082,2189  DistToNext 0.000000
    Speed 2, FLAG 1
     time 54.00   tot 161.28
   [ 9]     qtv    move STBD_TURN   dir SOUTH_EAST  loc 1082,2189  DistToNext 9.899495
    Speed 0, FLAG 1
     time  0.00   tot 161.28
   [10]     qtv    move FORWARD   dir SOUTH_EAST  loc 1089,2182  DistToNext 39.597980
    Speed 1, FLAG 1
     time 17.82   tot 179.09
   [11]     qtv    move FORWARD   dir SOUTH_EAST  loc 1117,2154  DistToNext 0.000000
    Speed 1, FLAG 2
     time 71.28   tot 250.37
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir NORTH_WEST  loc 899,1398  DistToNext 0.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move STBD_TURN   dir NORTH  loc 899,1398  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move FORWARD   dir NORTH  loc 899,1458  DistToNext 0.000000
    Speed 1, FLAG 1
     time 108.00   tot 108.00
   [ 3]     qtv    move STBD_TURN   dir NORTH_EAST  loc 899,1458  DistToNext 39.597980
    Speed 0, FLAG 1
     time  0.00   tot 108.00
   [ 4]     qtv    move FORWARD   dir NORTH_EAST  loc 927,1486  DistToNext 19.798990
    Speed 1, FLAG 1
     time 71.28   tot 179.27
   [ 5]     qtv    move FORWARD   dir NORTH_EAST  loc 913,1472  DistToNext 0.000000
    Speed 1, FLAG 2
     time 35.64   tot 214.91
  End Path <===
* ==> Start Path
   [ 0]     qtv    move STBD_TURN   dir SOUTH_EAST  loc 1163,976  DistToNext 50.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir SOUTH_EAST  loc 1163,1026  DistToNext 50.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move STBD_TURN   dir EAST  loc 1715,557  DistToNext 50.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir EAST  loc 1715,607  DistToNext 0.000000
    Speed -1, FLAG 1
     time 180.00   tot 180.00
   [ 2]     qtv    move STBD_TURN   dir SOUTH_EAST  loc 1715,607  DistToNext 50.000000
    Speed 0, FLAG 1
     time  0.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir SOUTH_WEST  loc 1106,868  DistToNext 0.000000
    Speed 1, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move STBD_TURN   dir WEST  loc 1106,868  DistToNext 60.000000
    Speed 0, FLAG 1
     time  0.00   tot  0.00
   [ 2]     qtv    move FORWARD   dir WEST  loc 1046,868  DistToNext 0.000000
    Speed 1, FLAG 1
     time 108.00   tot 108.00
   [ 3]     qtv    move STBD_TURN   dir NORTH_WEST  loc 1046,868  DistToNext 39.597980
    Speed 0, FLAG 1
     time  0.00   tot 108.00
   [ 4]     qtv    move FORWARD   dir NORTH_WEST  loc 1018,896  DistToNext 19.798990
    Speed 1, FLAG 1
     time 71.28   tot 179.27
   [ 5]     qtv    move FORWARD   dir NORTH_WEST  loc 1032,882  DistToNext 0.000000
    Speed 1, FLAG 2
     time 35.64   tot 214.91
  End Path <===
* ==> Start Path
   [ 0]     qtv    move NO_MOVE   dir NORTH_WEST  loc 0,0  DistToNext 199.404114
    Speed 2, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir NORTH_WEST  loc -141,141  DistToNext 0.000000
    Speed 2, FLAG 1
     time 179.46   tot 179.46
  End Path <===
* ==> Start Path
   [ 0]     qtv    move NO_MOVE   dir SOUTH  loc -424,424  DistToNext 300.000000
    Speed 3, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir SOUTH  loc -424,124  DistToNext 0.000000
    Speed 3, FLAG 1
     time 180.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir NORTH_WEST  loc -141,141  DistToNext 199.404114
    Speed 2, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir NORTH_WEST  loc -282,282  DistToNext 0.000000
    Speed 2, FLAG 1
     time 179.46   tot 179.46
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir SOUTH  loc -424,124  DistToNext 400.000000
    Speed 4, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir SOUTH  loc -424,-276  DistToNext 0.000000
    Speed 4, FLAG 1
     time 180.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir NORTH_WEST  loc -282,282  DistToNext 199.404114
    Speed 2, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir NORTH_WEST  loc -423,423  DistToNext 0.000000
    Speed 2, FLAG 1
     time 179.46   tot 179.46
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir SOUTH  loc -424,-276  DistToNext 500.000000
    Speed 5, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir SOUTH  loc -424,-776  DistToNext 0.000000
    Speed 5, FLAG 1
     time 180.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir NORTH_WEST  loc -423,423  DistToNext 65.053825
    Speed 2, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir NORTH_WEST  loc -469,469  DistToNext 0.000000
    Speed 2, FLAG 1
     time 58.55   tot 58.55
   [ 2]     qtv    move STBD_TURN   dir NORTH  loc -469,469  DistToNext 42.000000
    Speed 0, FLAG 1
     time  0.00   tot 58.55
   [ 3]     qtv    move FORWARD   dir NORTH  loc -469,511  DistToNext 0.000000
    Speed 6, FLAG 1
     time 12.60   tot 71.15
   [ 4]     qtv    move STBD_TURN   dir NORTH_EAST  loc -469,511  DistToNext 56.568542
    Speed 0, FLAG 1
     time  0.00   tot 71.15
   [ 5]     qtv    move FORWARD   dir NORTH_EAST  loc -429,551  DistToNext 0.000000
    Speed 8, FLAG 1
     time 12.73   tot 83.88
   [ 6]     qtv    move STBD_TURN   dir EAST  loc -429,551  DistToNext 46.000000
    Speed 0, FLAG 1
     time  0.00   tot 83.88
   [ 7]     qtv    move FORWARD   dir EAST  loc -383,551  DistToNext 0.000000
    Speed 7, FLAG 1
     time 11.83   tot 95.70
   [ 8]     qtv    move STBD_TURN   dir SOUTH_EAST  loc -383,551  DistToNext 56.568542
    Speed 0, FLAG 1
     time  0.00   tot 95.70
   [ 9]     qtv    move FORWARD   dir SOUTH_EAST  loc -343,511  DistToNext 0.000000
    Speed 8, FLAG 1
     time 12.73   tot 108.43
   [10]     qtv    move STBD_TURN   dir SOUTH  loc -343,511  DistToNext 238.000000
    Speed 0, FLAG 1
     time  0.00   tot 108.43
   [11]     qtv    move FORWARD   dir SOUTH  loc -343,273  DistToNext 0.000000
    Speed 6, FLAG 1
     time 71.40   tot 179.83
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir SOUTH  loc -424,-776  DistToNext 500.000000
    Speed 5, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir SOUTH  loc -424,-1276  DistToNext 0.000000
    Speed 5, FLAG 1
     time 180.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir SOUTH  loc -343,273  DistToNext 600.000000
    Speed 6, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir SOUTH  loc -343,-327  DistToNext 0.000000
    Speed 6, FLAG 1
     time 180.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir SOUTH  loc -424,-1276  DistToNext 500.000000
    Speed 5, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir SOUTH  loc -424,-1776  DistToNext 0.000000
    Speed 5, FLAG 1
     time 180.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir SOUTH  loc -343,-327  DistToNext 600.000000
    Speed 6, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir SOUTH  loc -343,-927  DistToNext 0.000000
    Speed 6, FLAG 1
     time 180.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir SOUTH  loc -424,-1776  DistToNext 500.000000
    Speed 5, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir SOUTH  loc -424,-2276  DistToNext 0.000000
    Speed 5, FLAG 1
     time 180.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir SOUTH  loc -343,-927  DistToNext 800.000000
    Speed 8, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir SOUTH  loc -343,-1727  DistToNext 0.000000
    Speed 8, FLAG 1
     time 180.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir SOUTH  loc -424,-2276  DistToNext 500.000000
    Speed 5, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir SOUTH  loc -424,-2776  DistToNext 0.000000
    Speed 5, FLAG 1
     time 180.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir SOUTH  loc -343,-1727  DistToNext 800.000000
    Speed 8, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir SOUTH  loc -343,-2527  DistToNext 0.000000
    Speed 8, FLAG 1
     time 180.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir SOUTH  loc -424,-2776  DistToNext 500.000000
    Speed 5, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir SOUTH  loc -424,-3276  DistToNext 0.000000
    Speed 5, FLAG 1
     time 180.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir SOUTH  loc -343,-2527  DistToNext 800.000000
    Speed 8, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir SOUTH  loc -343,-3327  DistToNext 0.000000
    Speed 8, FLAG 1
     time 180.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir SOUTH  loc -424,-3276  DistToNext 500.000000
    Speed 5, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir SOUTH  loc -424,-3776  DistToNext 0.000000
    Speed 5, FLAG 1
     time 180.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir SOUTH  loc -343,-3327  DistToNext 800.000000
    Speed 8, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir SOUTH  loc -343,-4127  DistToNext 0.000000
    Speed 8, FLAG 1
     time 180.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir SOUTH  loc -424,-3776  DistToNext 500.000000
    Speed 5, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir SOUTH  loc -424,-4276  DistToNext 0.000000
    Speed 5, FLAG 1
     time 180.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir SOUTH  loc -343,-4127  DistToNext 600.000000
    Speed 6, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir SOUTH  loc -343,-4727  DistToNext 0.000000
    Speed 6, FLAG 1
     time 180.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir SOUTH  loc -424,-4276  DistToNext 500.000000
    Speed 5, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir SOUTH  loc -424,-4776  DistToNext 0.000000
    Speed 5, FLAG 1
     time 180.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir SOUTH  loc -343,-4727  DistToNext 34.000000
    Speed 6, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir SOUTH  loc -343,-4761  DistToNext 0.000000
    Speed 6, FLAG 1
     time 10.20   tot 10.20
   [ 2]     qtv    move BACK_SAIL   dir SOUTH  loc -343,-4761  DistToNext 471.000000
    Speed 0, FLAG 1
     time  0.00   tot 10.20
   [ 3]     qtv    move FORWARD   dir SOUTH  loc -343,-5232  DistToNext 0.000000
    Speed 5, FLAG 1
     time 169.56   tot 179.76
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir SOUTH  loc -424,-4776  DistToNext 500.000000
    Speed 5, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir SOUTH  loc -424,-5276  DistToNext 0.000000
    Speed 5, FLAG 1
     time 180.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir SOUTH  loc -343,-5232  DistToNext 500.000000
    Speed 5, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir SOUTH  loc -343,-5732  DistToNext 0.000000
    Speed 5, FLAG 1
     time 180.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir SOUTH  loc -424,-5276  DistToNext 500.000000
    Speed 5, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir SOUTH  loc -424,-5776  DistToNext 0.000000
    Speed 5, FLAG 1
     time 180.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir SOUTH  loc -343,-5232  DistToNext 500.000000
    Speed 5, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir SOUTH  loc -343,-5732  DistToNext 0.000000
    Speed 5, FLAG 1
     time 180.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir SOUTH  loc -424,-5276  DistToNext 500.000000
    Speed 5, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir SOUTH  loc -424,-5776  DistToNext 0.000000
    Speed 5, FLAG 1
     time 180.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir SOUTH  loc -343,-5232  DistToNext 500.000000
    Speed 5, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir SOUTH  loc -343,-5732  DistToNext 0.000000
    Speed 5, FLAG 1
     time 180.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir SOUTH  loc -424,-5276  DistToNext 500.000000
    Speed 5, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir SOUTH  loc -424,-5776  DistToNext 0.000000
    Speed 5, FLAG 1
     time 180.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir SOUTH  loc -343,-5232  DistToNext 500.000000
    Speed 5, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir SOUTH  loc -343,-5732  DistToNext 0.000000
    Speed 5, FLAG 1
     time 180.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir SOUTH  loc -424,-5276  DistToNext 500.000000
    Speed 5, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir SOUTH  loc -424,-5776  DistToNext 0.000000
    Speed 5, FLAG 1
     time 180.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir SOUTH  loc -343,-5232  DistToNext 500.000000
    Speed 5, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir SOUTH  loc -343,-5732  DistToNext 0.000000
    Speed 5, FLAG 1
     time 180.00   tot 180.00
  End Path <===
* ==> Start Path
   [ 0]     qtv    move FORWARD   dir SOUTH  loc -424,-5276  DistToNext 500.000000
    Speed 5, FLAG 1
     time  0.00   tot  0.00
   [ 1]     qtv    move FORWARD   dir SOUTH  loc -424,-5776  DistToNext 0.000000
    Speed 5, FLAG 1
     time 180.00   tot 180.00
  End Path <===
