diff --git a/src/pAUV150/AUV150.cpp b/src/pAUV150/AUV150.cpp
index f22142b..7ab526b 100644
--- a/src/pAUV150/AUV150.cpp
+++ b/src/pAUV150/AUV150.cpp
@@ -261,7 +261,25 @@ bool AUV150::ListenLoop()
                     m_counter = p->counter;
                     updateStatus(*p);
                     postStatusUpdate("NAV");
+                    // 计算控制量
+                    
+                    // 发送消息 
+                    try
+                    {
+                        m_TcpSocket->iSendMessage(&m_CommandFrame, sizeof(CommandFrame_150AUV));
+                        m_controlGap =  MOOSTime() - m_desiredVarTime;
+                        m_controlTime = MOOSTime();
+                        m_bConnected = true;
+                    }
+                    catch(XPCException &e)
+                    {
+                        m_bConnected = false;
+                        std::cerr << "there was trouble sending message: "
+                                << e.sGetException() << "\n";
+                    }
 
+
+                    // 计算控制频率
                     m_samplingTime = MOOSTime();
                     message_count++;
                     double elapsed_time = m_samplingTime - start_time;
@@ -280,7 +298,6 @@ bool AUV150::ListenLoop()
                     m_faultCodes.insert(0x12); //无数据接收
                 }
             }
-
         }
         catch (XPCException & e)
         {
@@ -294,37 +311,8 @@ bool AUV150::ListenLoop()
 }
 
 bool AUV150::WriteLoop()
-{
-    double start_time = MOOSTime();
-    int message_count = 0;
-    double last_send_time = MOOSTime();
-    double gap;
-    
-    //5Hz发送
+{   
     while(!WritingThread_.IsQuitRequested()){
-        if((MOOSTime() - last_send_time) >= (m_controlCycle))
-        {
-            try
-            {
-                m_TcpSocket->iSendMessage(&m_CommandFrame, sizeof(CommandFrame_150AUV));
-                m_controlGap =  MOOSTime() - m_desiredVarTime;
-                m_bConnected = true;
-            }
-            catch(XPCException &e)
-            {
-                m_bConnected = false;
-                std::cerr << "there was trouble sending message: "
-                        << e.sGetException() << "\n";
-            }
-            message_count++;
-            double elapsed_time = MOOSTime() - start_time;
-            if(elapsed_time > 1.0) {  // 每秒更新一次频率
-                m_real_write_freq = message_count / elapsed_time;
-                message_count = 0;
-                start_time = MOOSTime();
-            }
-            last_send_time = MOOSTime();
-        }
         if(!m_bConnected)
         {
             m_real_read_freq = 0;
@@ -437,6 +425,17 @@ bool AUV150::buildReport()
           doubleToString(m_controlGap, 5) + "s"
       }
     );
+    // printTable(
+    // {"Connect", "Read", "Writ" ,"Conter" ,"Gap","Gap2"},
+    // {
+    //     (isConnected() ? "Yes" : "No"),
+    //     doubleToString(getRealReadFreq(), 4) + " Hz",
+    //     doubleToString(getRealWriteFreq(), 4) + " Hz",
+    //     ulintToString(getCounter()),
+    //     doubleToString(m_controlGap, 5) + "s",
+    //     doubleToString((m_controlTime-m_samplingTime),5)
+    // }
+// );
     m_msgs << "Fault Codes: ";
     for (uint8_t code : getFaultCodes()) {
         m_msgs << uintToString(code) + " ";
@@ -539,8 +538,8 @@ bool AUV150::updateStatus(FeedbackFrame_150AUV &feedbackFrame)
     m_status.velocityEast = feedbackFrame.velocityEast / 100.0f;
     m_status.velocityNorth = feedbackFrame.velocityNorth / 100.0f;
     m_status.velocityDown = feedbackFrame.velocityDown / 100.0f;
-    m_status.insLongitude = feedbackFrame.insLongitude / 100000.0f - 180.0f; 
-    m_status.insLatitude = feedbackFrame.insLatitude / 100000.0f - 90.0f;
+    m_status.insLongitude = feedbackFrame.insLongitude / 1e7 - 180.0f; 
+    m_status.insLatitude = feedbackFrame.insLatitude / 1e7 - 90.0f;
     m_status.insAltitude = feedbackFrame.insAltitude / 100.0f;
     m_status.dvlVelX = feedbackFrame.dvlVelX / 100.0f;
     m_status.dvlVelY = feedbackFrame.dvlVelY / 100.0f;