diff --git a/missions/alder/alder.moos b/missions/alder/alder.moos
index 852cc64..0d000f4 100644
--- a/missions/alder/alder.moos
+++ b/missions/alder/alder.moos
@@ -20,7 +20,7 @@ ProcessConfig = ANTLER
   Run = pMarineViewer	@ NewConsole = false
   Run = uProcessWatch @ NewConsole = false
   Run = pHelmIvP      @ NewConsole = false
-  Run = pAUV150       @ NewConsole = true
+  Run = pAUV150       @ NewConsole = false
   Run = pMotionControler @ NewConsole = false
 }
 
@@ -162,17 +162,18 @@ ProcessConfig = pAUV150
   CommsTick = 10
 
   //server_host = 10.127.0.18
-  server_host = 127.0.0.1
+  //server_host = 127.0.0.1
+  server_host = 172.16.2.223
   LatOrigin  = 43.825300 
   LongOrigin = -70.330400 
 
-  ControlFrequency = 5
+  ControlFrequency = 10
 
 }
 
 ProcessConfig = pMotionControler
 {
-  AppTick    = 5
-  CommsTick  = 5
-  config_file = /home/zjk/project/prj_015/moos-ivp-extend/missions/alder/ControlParam.json
+  AppTick    = 10
+  CommsTick  = 10
+  config_file = /home/zjk/project/moos-ivp-extend/missions/alder/ControlParam.json
 }
\ No newline at end of file
diff --git a/src/CMakeLists.txt b/src/CMakeLists.txt
index 1fe6556..ce4bb65 100644
--- a/src/CMakeLists.txt
+++ b/src/CMakeLists.txt
@@ -19,7 +19,7 @@ ADD_SUBDIRECTORY(lib_behaviors-test)
 ADD_SUBDIRECTORY(pExampleApp)
 ADD_SUBDIRECTORY(pXRelayTest)
 add_subdirectory(pAUV150)
-# add_subdirectory(pMotionControler)
+add_subdirectory(pMotionControler)
 ##############################################################################
 #                           END of CMakeLists.txt
 ##############################################################################
diff --git a/src/pAUV150/AUV150.cpp b/src/pAUV150/AUV150.cpp
index cf8d9fc..f22142b 100644
--- a/src/pAUV150/AUV150.cpp
+++ b/src/pAUV150/AUV150.cpp
@@ -13,7 +13,7 @@
 #include <string>
 #include <iostream>
 
-#define DEBUG_
+// #define DEBUG_
 
 using namespace std;
 
@@ -428,8 +428,8 @@ bool AUV150::buildReport()
       {"Connect", "Read", "Writ" ,"Conter" ,"Server ip","Latitude", "Longitude","Gap"},
       {
           (isConnected() ? "Yes" : "No"),
-          doubleToString(getRealReadFreq(), 2) + " Hz",
-          doubleToString(getRealWriteFreq(), 2) + " Hz",
+          doubleToString(getRealReadFreq(), 4) + " Hz",
+          doubleToString(getRealWriteFreq(), 4) + " Hz",
           ulintToString(getCounter()),
           m_serverHost,
           doubleToString(m_OriginLatitude, 5) + "deg",