09:01:43.417 ERROR [/home/joris/.cargo/registry/src/index.crates.io-6f17d22bba15001f/log-panics-2.1.0/src/lib.rs:130] thread 'main' panicked at 'PYTHON_PP_DIR env var should be set: NotPresent': robot_core/path_planning/src/lib.rs:70
09:02:37.030 ERROR [robot_core/path_planning/src/lib.rs:259] Cannot reach control, stopping path planner...
09:04:02.471 ERROR [/home/joris/.cargo/registry/src/index.crates.io-6f17d22bba15001f/log-panics-2.1.0/src/lib.rs:130] thread 'main' panicked at 'called `Result::unwrap()` on an `Err` value: SqliteFailure(Error { code: Unknown, extended_code: 1 }, Some("near \"time\": syntax error"))': utilities/logging/src/logger_manager.rs:115
09:04:50.259 ERROR [robot_core/path_planning/src/lib.rs:259] Cannot reach control, stopping path planner...
09:04:51.256 ERROR [robot_core/state_estimation/src/simulated_state_estimator.rs:57] State estimator error on recv: Timeout, stopping...
09:14:44.505 ERROR [robot_core/path_planning/src/lib.rs:259] Cannot reach control, stopping path planner...
09:15:45.793 ERROR [robot_core/path_planning/src/lib.rs:259] Cannot reach control, stopping path planner...
09:15:46.750 ERROR [robot_core/state_estimation/src/simulated_state_estimator.rs:57] State estimator error on recv: Timeout, stopping...
09:17:44.731 ERROR [robot_core/path_planning/src/lib.rs:259] Cannot reach control, stopping path planner...
09:20:51.939 ERROR [robot_core/path_planning/src/lib.rs:259] Cannot reach control, stopping path planner...
09:21:28.300 ERROR [robot_core/path_planning/src/lib.rs:259] Cannot reach control, stopping path planner...
09:21:29.296 ERROR [robot_core/state_estimation/src/simulated_state_estimator.rs:57] State estimator error on recv: Timeout, stopping...
09:21:31.078 ERROR [robot_core/path_planning/src/lib.rs:259] Cannot reach control, stopping path planner...
09:21:31.928 ERROR [robot_core/state_estimation/src/simulated_state_estimator.rs:57] State estimator error on recv: Timeout, stopping...
09:24:03.415 ERROR [/home/joris/.cargo/registry/src/index.crates.io-6f17d22bba15001f/log-panics-2.1.0/src/lib.rs:130] thread 'control' panicked at 'Simulator has been dropped': utilities/simulator/src/time.rs:4
09:26:59.458 ERROR [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:149] Logger control/pid/y_position failed to flush: SqliteFailure(Error { code: ConstraintViolation, extended_code: 1555 }, Some("UNIQUE constraint failed: control/pid/y_position.time"))
09:26:59.497 ERROR [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:149] Logger control/pid/z_position failed to flush: SqliteFailure(Error { code: ConstraintViolation, extended_code: 1555 }, Some("UNIQUE constraint failed: control/pid/z_position.time"))
09:26:59.497 ERROR [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:150] Buffer: [PIDState { time: 10143.32, dt: 0.020000000000436557, error: Some(-2.1126869370391432e-5), p: Some(-1.0563434685195716e-5), i: Some(0.0), d: Some(5.064107511132702e-7), output: -1.0057023934082445e-5 }, PIDState { time: 10143.34, dt: 0.020000000000436557, error: Some(-2.0641536494281354e-5), p: Some(-1.0320768247140677e-5), i: Some(0.0), d: Some(7.207819482529178e-7), output: -9.599986298887759e-6 }, PIDState { time: 10143.36, dt: 0.020000000000436557, error: Some(-2.006285615152592e-5), p: Some(-1.003142807576296e-5), i: Some(0.0), d: Some(9.424730677531161e-7), output: -9.088955008009844e-6 }, PIDState { time: 10143.38, dt: 0.019999999998617568, error: Some(-1.9389649281720267e-5), p: Some(-9.694824640860134e-6), i: Some(0.0), d: Some(1.1702376453452501e-6), output: -8.524586995514883e-6 }, PIDState { time: 10143.4, dt: 0.020000000000436557, error: Some(-1.8621347081193562e-5), p: Some(-9.310673540596781e-6), i: Some(0.0), d: Some(1.4027138831911196e-6), output: -7.907959657405661e-6 }, PIDState { time: 10143.42, dt: 0.020000000000436557, error: Some(-1.7758002385903637e-5), p: Some(-8.879001192951819e-6), i: Some(0.0), d: Some(1.6384500925123036e-6), output: -7.240551100439515e-6 }, PIDState { time: 10143.44, dt: 0.020000000000436557, error: Some(-1.6800289543539293e-5), p: Some(-8.400144771769646e-6), i: Some(0.0), d: Some(1.875931785505027e-6), output: -6.5242129862646195e-6 }, PIDState { time: 10143.46, dt: 0.019999999998617568, error: Some(-1.574949257587832e-5), p: Some(-7.87474628793916e-6), i: Some(0.0), d: Some(2.1136099243012498e-6), output: -5.76113636363791e-6 }, PIDState { time: 10143.48, dt: 0.020000000000436557, error: Some(-1.4607481915618337e-5), p: Some(-7.303740957809168e-6), i: Some(0.0), d: Some(2.3499298404190704e-6), output: -4.953811117390098e-6 }, PIDState { time: 10143.5, dt: 0.020000000000436557, error: Some(-1.3376680129795204e-5), p: Some(-6.688340064897602e-6), i: Some(0.0), d: Some(2.583360316908198e-6), output: -4.104979747989404e-6 }, PIDState { time: 10143.52, dt: 0.020000000000436557, error: Some(-1.2060017297699233e-5), p: Some(-6.030008648849616e-6), i: Some(0.0), d: Some(2.8124222721103157e-6), output: -3.2175863767393006e-6 }, PIDState { time: 10143.54, dt: 0.020000000000436557, error: Some(-1.0660876796464436e-5), p: Some(-5.330438398232218e-6), i: Some(0.0), d: Some(3.03571650764154e-6), output: -2.294721890590678e-6 }, PIDState { time: 10143.56, dt: 0.019999999998617568, error: Some(-9.183032645410094e-6), p: Some(-4.591516322705047e-6), i: Some(0.0), d: Some(3.2519499847332783e-6), output: -1.3395663379717687e-6 }, PIDState { time: 10143.58, dt: 0.020000000000436557, error: Some(-7.630579531792137e-6), p: Some(-3.815289765896068e-6), i: Some(0.0), d: Some(3.45996010082535e-6), output: -3.553296650707181e-7 }, PIDState { time: 10143.6, dt: 0.020000000000436557, error: Some(-6.007856825362978e-6), p: Some(-3.003928412681489e-6), i: Some(0.0), d: Some(3.658736500634371e-6), output: 6.548080879528819e-7 }, PIDState { time: 10143.62, dt: 0.020000000000436557, error: Some(-4.319368102301269e-6), p: Some(-2.1596840511506343e-6), i: Some(0.0), d: Some(3.847439996332942e-6), output: 1.6877559451823077e-6 }, PIDState { time: 10143.64, dt: 0.019999999998617568, error: Some(-2.569697585386166e-6), p: Some(-1.284848792693083e-6), i: Some(0.0), d: Some(4.0254182440868075e-6), output: 2.7405694513937245e-6 }, PIDState { time: 10143.66, dt: 0.020000000000436557, error: Some(-7.634250920318664e-7), p: Some(-3.817125460159332e-7), i: Some(0.0), d: Some(4.1922178952963214e-6), output: 3.8105053492803882e-6 }, PIDState { time: 10143.68, dt: 0.020000000000436557, error: Some(1.0949587903041902e-6), p: Some(5.474793951520951e-7), i: Some(0.0), d: Some(4.34759300574047e-6), output: 4.895072400892565e-6 }, PIDState { time: 10143.7, dt: 0.020000000000436557, error: Some(3.0011358944648237e-6), p: Some(1.5005679472324118e-6), i: Some(0.0), d: Some(4.491509521636529e-6), output: 5.992077468868941e-6 }, PIDState { time: 10143.72, dt: 0.019999999998617568, error: Some(4.9510403528074676e-6), p: Some(2.4755201764037338e-6), i: Some(0.0), d: Some(4.624145795837675e-6), output: 7.099665972241408e-6 }, PIDState { time: 10143.74, dt: 0.020000000000436557, error: Some(6.940933744203903e-6), p: Some(3.4704668721019516e-6), i: Some(0.0), d: Some(4.745889129036578e-6), output: 8.216356001138529e-6 }, PIDState { time: 10143.76, dt: 0.020000000000436557, error: Some(8.967474045107338e-6), p: Some(4.483737022553669e-6), i: Some(0.0), d: Some(4.857328411980414e-6), output: 9.341065434534084e-6 }, PIDState { time: 10143.78, dt: 0.020000000000436557, error: Some(1.1027777205185885e-5), p: Some(5.513888602592942e-6), i: Some(0.0), d: Some(4.959243001877471e-6), output: 1.0473131604470414e-5 }, PIDState { time: 10143.8, dt: 0.019999999998617568, error: Some(1.311947005433467e-5), p: Some(6.559735027167335e-6), i: Some(0.0), d: Some(5.052588060466728e-6), output: 1.1612323087634063e-5 }, PIDState { time: 10143.82, dt: 0.020000000000436557, error: Some(1.5240733773680404e-5), p: Some(7.620366886840202e-6), i: Some(0.0), d: Some(5.138476621399293e-6), output: 1.2758843508239496e-5 }, PIDState { time: 10143.84, dt: 0.020000000000436557, error: Some(1.7390336878975177e-5), p: Some(8.695168439487588e-6), i: Some(0.0), d: Some(5.218158741818671e-6), output: 1.3913327181306259e-5 }, PIDState { time: 10143.86, dt: 0.020000000000436557, error: Some(1.9567657389529813e-5), p: Some(9.783828694764907e-6), i: Some(0.0), d: Some(5.292998112441929e-6), output: 1.5076826807206836e-5 }, PIDState { time: 10143.88, dt: 0.019999999998617568, error: Some(2.1772693528987475e-5), p: Some(1.0886346764493737e-5), i: Some(0.0), d: Some(5.364446589491089e-6), output: 1.6250793353984824e-5 }, PIDState { time: 10143.9, dt: 0.020000000000436557, error: Some(2.4006062901094083e-5), p: Some(1.2003031450547041e-5), i: Some(0.0), d: Some(5.434017097377495e-6), output: 1.7437048547924537e-5 }, PIDState { time: 10143.92, dt: 0.020000000000436557, error: Some(2.626899009783301e-5), p: Some(1.3134495048916506e-5), i: Some(0.0), d: Some(5.503255407774148e-6), output: 1.8637750456690654e-5 }, PIDState { time: 10143.94, dt: 0.020000000000436557, error: Some(2.8563282853610872e-5), p: Some(1.4281641426805436e-5), i: Some(0.0), d: Some(5.573711281189687e-6), output: 1.9855352707995123e-5 }, PIDState { time: 10143.96, dt: 0.019999999998617568, error: Some(3.089129722866346e-5), p: Some(1.544564861433173e-5), i: Some(0.0), d: Some(5.646909478553991e-6), output: 2.109255809288572e-5 }, PIDState { time: 10143.98, dt: 0.020000000000436557, error: Some(3.325589254643546e-5), p: Some(1.662794627321773e-5), i: Some(0.0), d: Some(5.7243211727557445e-6), output: 2.2352267445973474e-5 }, PIDState { time: 10144.0, dt: 0.020000000000436557, error: Some(3.566037685232004e-5), p: Some(1.783018842616002e-5), i: Some(0.0), d: Some(5.80733634460309e-6), output: 2.363752477076311e-5 }, PIDState { time: 10144.02, dt: 0.020000000000436557, error: Some(3.810844398799418e-5), p: Some(1.905422199399709e-5), i: Some(0.0), d: Some(5.897237682317084e-6), output: 2.4951459676314173e-5 }, PIDState { time: 10144.04, dt: 0.020000000000436557, error: Some(4.060410340400722e-5), p: Some(2.030205170200361e-5), i: Some(0.0), d: Some(5.995176503781451e-6), output: 2.629722820578506e-5 }, PIDState { time: 10144.06, dt: 0.019999999998617568, error: Some(4.0761260152066825e-5), p: Some(2.0380630076033412e-5), i: Some(0.0), d: Some(5.699047887738368e-6), output: 2.607967796377178e-5 }, PIDState { time: 10144.08, dt: 0.020000000000436557, error: Some(3.857571374510371e-5), p: Some(1.9287856872551856e-5), i: Some(0.0), d: Some(4.1443843288261735e-6), output: 2.343224120137803e-5 }, PIDState { time: 10144.1, dt: 0.020000000000436557, error: Some(3.6454605648827965e-5), p: Some(1.8227302824413982e-5), i: Some(0.0), d: Some(1.3160440597907104e-6), output: 1.9543346884204692e-5 }, PIDState { time: 10144.12, dt: 0.020000000000436557, error: Some(3.440254239706064e-5), p: Some(1.720127119853032e-5), i: Some(0.0), d: Some(-1.6366182115334294e-6), output: 1.556465298699689e-5 }, PIDState { time: 10144.14, dt: 0.019999999998617568, error: Some(3.242403010972339e-5), p: Some(1.6212015054861695e-5), i: Some(0.0), d: Some(-3.7973527802191178e-6), output: 1.2414662274642577e-5 }, PIDState { time: 10144.16, dt: 0.020000000000436557, error: Some(3.0523389426662106e-5), p: Some(1.5261694713331053e-5), i: Some(0.0), d: Some(-4.998583832929779e-6), output: 1.0263110880401274e-5 }, PIDState { time: 10144.18, dt: 0.020000000000436557, error: Some(2.8704673880497467e-5), p: Some(1.4352336940248733e-5), i: Some(0.0), d: Some(-5.427129363278296e-6), output: 8.925207576970437e-6 }, PIDState { time: 10144.2, dt: 0.020000000000436557, error: Some(2.6971593342750566e-5), p: Some(1.3485796671375283e-5), i: Some(0.0), d: Some(-5.365873579440544e-6), output: 8.11992309193474e-6 }, PIDState { time: 10144.22, dt: 0.019999999998617568, error: Some(2.5327443893274904e-5), p: Some(1.2663721946637452e-5), i: Some(0.0), d: Some(-5.061259585125489e-6), output: 7.602462361511963e-6 }, PIDState { time: 10144.24, dt: 0.020000000000436557, error: Some(2.377504551986931e-5), p: Some(1.1887522759934654e-5), i: Some(0.0), d: Some(-4.6784697914322566e-6), output: 7.209052968502398e-6 }, PIDState { time: 10144.26, dt: 0.020000000000436557, error: Some(2.2316688600199086e-5), p: Some(1.1158344300099543e-5), i: Some(0.0), d: Some(-4.3048920378751365e-6), output: 6.8534522622244065e-6 }, PIDState { time: 10144.28, dt: 0.020000000000436557, error: Some(2.0954090416580584e-5), p: Some(1.0477045208290292e-5), i: Some(0.0), d: Some(-3.972576913332394e-6), output: 6.504468294957898e-6 }, PIDState { time: 10144.3, dt: 0.019999999998617568, error: Some(1.9688362257852532e-5), p: Some(9.844181128926266e-6), i: Some(0.0), d: Some(-3.682468575262426e-6), output: 6.16171255366384e-6 }, PIDState { time: 10144.32, dt: 0.020000000000436557, error: Some(1.8519987904142e-5), p: Some(9.259993952071e-6), i: Some(0.0), d: Some(-3.422822496314445e-6), output: 5.837171455756555e-6 }, PIDState { time: 10144.34, dt: 0.020000000000436557, error: Some(1.744881375032037e-5), p: Some(8.724406875160184e-6), i: Some(0.0), d: Some(-3.1802464882912567e-6), output: 5.544160386868928e-6 }, PIDState { time: 10144.36, dt: 0.020000000000436557, error: Some(1.6474050852366418e-5), p: Some(8.237025426183209e-6), i: Some(0.0), d: Some(-2.944709638270848e-6), output: 5.292315787912361e-6 }, PIDState { time: 10144.38, dt: 0.019999999998617568, error: Some(1.559428883979308e-5), p: Some(7.79714441989654e-6), i: Some(0.0), d: Some(-2.710701694613278e-6), output: 5.086442725283262e-6 }, PIDState { time: 10144.4, dt: 0.020000000000436557, error: Some(1.4807521580451066e-5), p: Some(7.403760790225533e-6), i: Some(0.0), d: Some(-2.476482525879968e-6), output: 4.927278264345565e-6 }, PIDState { time: 10144.42, dt: 0.020000000000436557, error: Some(1.4111183944010008e-5), p: Some(7.055591972005004e-6), i: Some(0.0), d: Some(-2.2427378391345286e-6), output: 4.812854132870476e-6 }, PIDState { time: 10144.44, dt: 0.020000000000436557, error: Some(1.3502199138315518e-5), p: Some(6.751099569157759e-6), i: Some(0.0), d: Some(-2.011345002586125e-6), output: 4.739754566571634e-6 }, PIDState { time: 10144.46, dt: 0.019999999998617568, error: Some(1.2977035609651466e-5), p: Some(6.488517804825733e-6), i: Some(0.0), d: Some(-1.784510281316791e-6), output: 4.704007523508942e-6 }, PIDState { time: 10144.48, dt: 0.020000000000436557, error: Some(1.2531772483725945e-5), p: Some(6.265886241862972e-6), i: Some(0.0), d: Some(-1.5642857322924618e-6), output: 4.701600509570511e-6 }, PIDState { time: 10144.5, dt: 0.020000000000436557, error: Some(1.2162172254193138e-5), p: Some(6.081086127096569e-6), i: Some(0.0), d: Some(-1.3523674630234234e-6), output: 4.728718664073146e-6 }, PIDState { time: 10144.52, dt: 0.020000000000436557, error: Some(1.1863759453945022e-5), p: Some(5.931879726972511e-6), i: Some(0.0), d: Some(-1.1500595741051465e-6), output: 4.781820152867364e-6 }, PIDState { time: 10144.54, dt: 0.020000000000436557, error: Some(1.1631903632292051e-5), p: Some(5.8159518161460255e-6), i: Some(0.0), d: Some(-9.58312262533905e-7), output: 4.857639553612121e-6 }, PIDState { time: 10144.56, dt: 0.019999999998617568, error: Some(1.1461905330634181e-5), p: Some(5.730952665317091e-6), i: Some(0.0), d: Some(-7.777772890832934e-7), output: 4.953175376233797e-6 }, PIDState { time: 10144.58, dt: 0.020000000000436557, error: Some(1.1349083152367712e-5), p: Some(5.674541576183856e-6), i: Some(0.0), d: Some(-6.088537254233031e-7), output: 5.065687850760553e-6 }, PIDState { time: 10144.6, dt: 0.020000000000436557, error: Some(1.1288860562785885e-5), p: Some(5.6444302813929426e-6), i: Some(0.0), d: Some(-4.517165170511677e-7), output: 5.192713764341775e-6 }, PIDState { time: 10144.62, dt: 0.020000000000436557, error: Some(1.127685064261641e-5), p: Some(5.638425321308205e-6), i: Some(0.0), d: Some(-3.06330495650374e-7), output: 5.332094825657831e-6 }, PIDState { time: 10144.64, dt: 0.019999999998617568, error: Some(1.1308937189369317e-5), p: Some(5.6544685946846585e-6), i: Some(0.0), d: Some(-1.724559572121257e-7), output: 5.482012637472533e-6 }, PIDState { time: 10144.66, dt: 0.020000000000436557, error: Some(1.1381350788042255e-5), p: Some(5.6906753940211274e-6), i: Some(0.0), d: Some(-4.9651677782518696e-8), output: 5.641023716238609e-6 }, PIDState { time: 10144.68, dt: 0.020000000000436557, error: Some(1.1490738330621753e-5), p: Some(5.745369165310876e-6), i: Some(0.0), d: Some(6.272052437622524e-8), output: 5.808089689687102e-6 }, PIDState { time: 10144.7, dt: 0.020000000000436557, error: Some(1.1634224719614394e-5), p: Some(5.817112359807197e-6), i: Some(0.0), d: Some(1.654874436316197e-7), output: 5.982599803438817e-6 }, PIDState { time: 10144.72, dt: 0.019999999998617568, error: Some(1.1809465647161232e-5), p: Some(5.904732823580616e-6), i: Some(0.0), d: Some(2.596515856784482e-7), output: 6.1643844092590645e-6 }, PIDState { time: 10144.74, dt: 0.020000000000436557, error: Some(1.2014690440764753e-5), p: Some(6.007345220382376e-6), i: Some(0.0), d: Some(3.463738633052344e-7), output: 6.353719083687611e-6 }, PIDState { time: 10144.76, dt: 0.020000000000436557, error: Some(1.224873420824224e-5), p: Some(6.12436710412112e-6), i: Some(0.0), d: Some(4.269524841482083e-7), output: 6.551319588269328e-6 }, PIDState { time: 10144.78, dt: 0.020000000000436557, error: Some(1.2511058699260502e-5), p: Some(6.255529349630251e-6), i: Some(0.0), d: Some(5.027987753909082e-7), output: 6.758328125021159e-6 }, PIDState { time: 10144.8, dt: 0.019999999998617568, error: Some(1.280176141449374e-5), p: Some(6.40088070724687e-6), i: Some(0.0), d: Some(5.754106754848886e-7), output: 6.9762913827317584e-6 }, PIDState { time: 10144.82, dt: 0.020000000000436557, error: Some(1.3121572976615425e-5), p: Some(6.560786488307713e-6), i: Some(0.0), d: Some(6.463445686111901e-7), output: 7.207131056918903e-6 }, PIDState { time: 10144.84, dt: 0.020000000000436557, error: Some(1.3471842535750511e-5), p: Some(6.735921267875256e-6), i: Some(0.0), d: Some(7.171860768463662e-7), output: 7.4531073447216215e-6 }, PIDState { time: 10144.86, dt: 0.020000000000436557, error: Some(1.3854511578870188e-5), p: Some(6.927255789435094e-6), i: Some(0.0), d: Some(7.895203309829254e-7), output: 7.716776120418019e-6 }, PIDState { time: 10144.88, dt: 0.019999999998617568, error: Some(1.4272076626298258e-5), p: Some(7.136038313149129e-6), i: Some(0.0), d: Some(8.649022458714335e-7), output: 8.000940559020562e-6 }, PIDState { time: 10144.9, dt: 0.020000000000436557, error: Some(1.4727541469028438e-5), p: Some(7.363770734514219e-6), i: Some(0.0), d: Some(9.448273494468723e-7), output: 8.30859808396109e-6 }, PIDState { time: 10144.92, dt: 0.020000000000436557, error: Some(1.5224359927401565e-5), p: Some(7.6121799637007825e-6), i: Some(0.0), d: Some(1.0307037125419815e-6), output: 8.642883676242763e-6 }, PIDState { time: 10144.94, dt: 0.020000000000436557, error: Some(1.576637015432425e-5), p: Some(7.883185077162125e-6), i: Some(0.0), d: Some(1.1238255185129079e-6), output: 9.007010595675033e-6 }, PIDState { time: 10144.96, dt: 0.019999999998617568, error: Some(1.635772174779504e-5), p: Some(8.17886087389752e-6), i: Some(0.0), d: Some(1.225348780070774e-6), output: 9.404209653968294e-6 }, PIDState { time: 10144.98, dt: 0.020000000000436557, error: Some(1.7002797065401865e-5), p: Some(8.501398532700932e-6), i: Some(0.0), d: Some(1.3362696641239856e-6), output: 9.837668196824919e-6 }, PIDState { time: 10145.0, dt: 0.020000000000436557, error: Some(1.7706128232930496e-5), p: Some(8.853064116465248e-6), i: Some(0.0), d: Some(1.457405849375248e-6), output: 1.0310469965840496e-5 }, PIDState { time: 10145.02, dt: 0.020000000000436557, error: Some(1.847231133922378e-5), p: Some(9.23615566961189e-6), i: Some(0.0), d: Some(1.589381258758228e-6), output: 1.0825536928370118e-5 }, PIDState { time: 10145.04, dt: 0.020000000000436557, error: Some(1.930591959364847e-5), p: Some(9.652959796824234e-6), i: Some(0.0), d: Some(1.7326144567227455e-6), output: 1.138557425354698e-5 }, PIDState { time: 10145.06, dt: 0.019999999998617568, error: Some(2.0211416824622574e-5), p: Some(1.0105708412311287e-5), i: Some(0.0), d: Some(1.887310922118104e-6), output: 1.1993019334429391e-5 }, PIDState { time: 10145.08, dt: 0.020000000000436557, error: Some(2.1193073209246904e-5), p: Some(1.0596536604623452e-5), i: Some(0.0), d: Some(2.0534593215086145e-6), output: 1.2649995926132068e-5 }, PIDState { time: 10145.1, dt: 0.020000000000436557, error: Some(2.2254884569861133e-5), p: Some(1.1127442284930567e-5), i: Some(0.0), d: Some(2.230831853668544e-6), output: 1.3358274138599111e-5 }, PIDState { time: 10145.12, dt: 0.020000000000436557, error: Some(2.340049692861612e-5), p: Some(1.170024846430806e-5), i: Some(0.0), d: Some(2.4189886436727615e-6), output: 1.4119237107980822e-5 }, PIDState { time: 10145.14, dt: 0.019999999998617568, error: Some(2.463313757061769e-5), p: Some(1.2316568785308846e-5), i: Some(0.0), d: Some(2.6172860993333714e-6), output: 1.4933854884642217e-5 }, PIDState { time: 10145.16, dt: 0.020000000000436557, error: Some(2.5955554008305626e-5), p: Some(1.2977777004152813e-5), i: Some(0.0), d: Some(2.824889059572392e-6), output: 1.5802666063725206e-5 }, PIDState { time: 10145.18, dt: 0.020000000000436557, error: Some(2.7369961955514555e-5), p: Some(1.3684980977757277e-5), i: Some(0.0), d: Some(3.0407865164839904e-6), output: 1.6725767494241266e-5 }, PIDState { time: 10145.2, dt: 0.020000000000436557, error: Some(2.8878003107024597e-5), p: Some(1.4439001553512298e-5), i: Some(0.0), d: Some(3.2638105895968416e-6), output: 1.770281214310914e-5 }, PIDState { time: 10145.22, dt: 0.019999999998617568, error: Some(3.0480713817837568e-5), p: Some(1.5240356908918784e-5), i: Some(0.0), d: Some(3.492658392851209e-6), output: 1.8733015301769995e-5 }, PIDState { time: 10145.24, dt: 0.020000000000436557, error: Some(3.217850493797414e-5), p: Some(1.608925246898707e-5), i: Some(0.0), d: Some(3.7259164020358233e-6), output: 1.9815168871022894e-5 }, PIDState { time: 10145.26, dt: 0.020000000000436557, error: Some(3.397115334280443e-5), p: Some(1.6985576671402214e-5), i: Some(0.0), d: Some(3.962086858373567e-6), output: 2.0947663529775783e-5 }, PIDState { time: 10145.28, dt: 0.020000000000436557, error: Some(3.585780531523142e-5), p: Some(1.792890265761571e-5), i: Some(0.0), d: Some(4.199615705375818e-6), output: 2.2128518362991527e-5 }, PIDState { time: 10145.3, dt: 0.019999999998617568, error: Some(3.544960833323785e-5), p: Some(1.7724804166618924e-5), i: Some(0.0), d: Some(4.034317585271346e-6), output: 2.175912175189027e-5 }, PIDState { time: 10145.32, dt: 0.020000000000436557, error: Some(3.2738528517484156e-5), p: Some(1.6369264258742078e-5), i: Some(0.0), d: Some(2.6008330549978798e-6), output: 1.897009731373996e-5 }, PIDState { time: 10145.34, dt: 0.020000000000436557, error: Some(3.0119015434593166e-5), p: Some(1.5059507717296583e-5), i: Some(0.0), d: Some(-1.1764196076385568e-7), output: 1.4941865756532728e-5 }, PIDState { time: 10145.36, dt: 0.020000000000436557, error: Some(2.758808939518076e-5), p: Some(1.379404469759038e-5), i: Some(0.0), d: Some(-2.975592722912551e-6), output: 1.0818451974677828e-5 }, PIDState { time: 10145.38, dt: 0.019999999998617568, error: Some(2.514231870520689e-5), p: Some(1.2571159352603445e-5), i: Some(0.0), d: Some(-5.06030348327404e-6), output: 7.510855869329405e-6 }, PIDState { time: 10145.4, dt: 0.020000000000436557, error: Some(2.277788348692411e-5), p: Some(1.1388941743462055e-5), i: Some(0.0), d: Some(-6.205944281322931e-6), output: 5.182997462139125e-6 }, PIDState { time: 10145.42, dt: 0.020000000000436557, error: Some(2.0490646505777477e-5), p: Some(1.0245323252888738e-5), i: Some(0.0), d: Some(-6.600005896956471e-6), output: 3.6453173559322674e-6 }, PIDState { time: 10145.44, dt: 0.020000000000436557, error: Some(1.8276229951652567e-5), p: Some(9.138114975826284e-6), i: Some(0.0), d: Some(-6.525454575885273e-6), output: 2.612660399941011e-6 }, PIDState { time: 10145.46, dt: 0.019999999998617568, error: Some(1.6130096639699332e-5), p: Some(8.065048319849666e-6), i: Some(0.0), d: Some(-6.228480263519369e-6), output: 1.8365680563302968e-6 }, PIDState { time: 10145.48, dt: 0.020000000000436557, error: Some(1.4047634152802857e-5), p: Some(7.0238170764014285e-6), i: Some(0.0), d: Some(-5.873771357000716e-6), output: 1.1500457194007122e-6 }, PIDState { time: 10145.5, dt: 0.020000000000436557, error: Some(1.2024240305663625e-5), p: Some(6.0121201528318124e-6), i: Some(0.0), d: Some(-5.547986409488815e-6), output: 4.6413374334299714e-7 }, PIDState { time: 10145.52, dt: 0.020000000000436557, error: Some(1.0055408409925803e-5), p: Some(5.027704204962902e-6), i: Some(0.0), d: Some(-5.2821839525365795e-6), output: -2.544797475736778e-7 }, PIDState { time: 10145.54, dt: 0.020000000000436557, error: Some(8.13681067768357e-6), p: Some(4.068405338841785e-6), i: Some(0.0), d: Some(-5.076026390478193e-6), output: -1.0076210516364077e-6 }, PIDState { time: 10145.56, dt: 0.019999999998617568, error: Some(6.264378228593159e-6), p: Some(3.1321891142965796e-6), i: Some(0.0), d: Some(-4.916186741776829e-6), output: -1.7839976274802492e-6 }, PIDState { time: 10145.58, dt: 0.020000000000436557, error: Some(4.434376265294304e-6), p: Some(2.217188132647152e-6), i: Some(0.0), d: Some(-4.787398052558548e-6), output: -2.570209919911396e-6 }, PIDState { time: 10145.6, dt: 0.020000000000436557, error: Some(2.643472896579624e-6), p: Some(1.321736448289812e-6), i: Some(0.0), d: Some(-4.6774876091883005e-6), output: -3.3557511608984885e-6 }, PIDState { time: 10145.62, dt: 0.020000000000436557, error: Some(8.888004430218643e-7), p: Some(4.4440022151093217e-7), i: Some(0.0), d: Some(-4.578573944037155e-6), output: -4.134173722526223e-6 }, PIDState { time: 10145.64, dt: 0.019999999998617568, error: Some(-8.319919260202369e-7), p: Some(-4.1599596301011843e-7), i: Some(0.0), d: Some(-4.486361936921237e-6), output: -4.902357899931356e-6 }, PIDState { time: 10145.66, dt: 0.020000000000436557, error: Some(-2.520695232988146e-6), p: Some(-1.260347616494073e-6), i: Some(0.0), d: Some(-4.39884882001922e-6), output: -5.659196436513293e-6 }, PIDState { time: 10145.68, dt: 0.020000000000436557, error: Some(-4.178508234531364e-6), p: Some(-2.089254117265682e-6), i: Some(0.0), d: Some(-4.315142654881501e-6), output: -6.404396772147183e-6 }, PIDState { time: 10145.7, dt: 0.020000000000436557, error: Some(-5.806015920484242e-6), p: Some(-2.903007960242121e-6), i: Some(0.0), d: Some(-4.234653049879309e-6), output: -7.13766101012143e-6 }, PIDState { time: 10145.72, dt: 0.019999999998617568, error: Some(-7.403179537845972e-6), p: Some(-3.701589768922986e-6), i: Some(0.0), d: Some(-4.156661319328647e-6), output: -7.858251088251633e-6 }, PIDState { time: 10145.74, dt: 0.020000000000436557, error: Some(-8.969338210818023e-6), p: Some(-4.4846691054090115e-6), i: Some(0.0), d: Some(-4.080170940478705e-6), output: -8.564840045887718e-6 }, PIDState { time: 10145.76, dt: 0.020000000000436557, error: Some(-1.0503222185320737e-5), p: Some(-5.251611092660369e-6), i: Some(0.0), d: Some(-4.003921890134289e-6), output: -9.255532982794657e-6 }, PIDState { time: 10145.78, dt: 0.020000000000436557, error: Some(-1.2002977570091389e-5), p: Some(-6.001488785045694e-6), i: Some(0.0), d: Some(-3.926476568642552e-6), output: -9.927965353688246e-6 }, PIDState { time: 10145.8, dt: 0.019999999998617568, error: Some(-1.3466202020140372e-5), p: Some(-6.733101010070186e-6), i: Some(0.0), d: Some(-3.846319782431232e-6), output: -1.0579420792501417e-5 }, PIDState { time: 10145.82, dt: 0.020000000000436557, error: Some(-1.4889990723077062e-5), p: Some(-7.444995361538531e-6), i: Some(0.0), d: Some(-3.761944913112048e-6), output: -1.120694027465058e-5 }, PIDState { time: 10145.84, dt: 0.020000000000436557, error: Some(-1.6270991821443204e-5), p: Some(-8.135495910721602e-6), i: Some(0.0), d: Some(-3.671918052473489e-6), output: -1.180741396319509e-5 }, PIDState { time: 10145.86, dt: 0.020000000000436557, error: Some(-1.760547021945058e-5), p: Some(-8.80273510972529e-6), i: Some(0.0), d: Some(-3.574922062339164e-6), output: -1.2377657172064454e-5 }, PIDState { time: 10145.88, dt: 0.019999999998617568, error: Some(-1.888937853777861e-5), p: Some(-9.444689268889306e-6), i: Some(0.0), d: Some(-3.4697860911749045e-6), output: -1.291447536006421e-5 }, PIDState { time: 10145.9, dt: 0.020000000000436557, error: Some(-2.0118433894822374e-5), p: Some(-1.0059216947411187e-5), i: Some(0.0), d: Some(-3.355505924648051e-6), output: -1.3414722872059238e-5 }, PIDState { time: 10145.92, dt: 0.020000000000436557, error: Some(-2.1288199064883884e-5), p: Some(-1.0644099532441942e-5), i: Some(0.0), d: Some(-3.231258976308374e-6), output: -1.3875358508750315e-5 }, PIDState { time: 10145.94, dt: 0.020000000000436557, error: Some(-2.239416652116688e-5), p: Some(-1.119708326058344e-5), i: Some(0.0), d: Some(-3.0964159586318084e-6), output: -1.4293499219215249e-5 }, PIDState { time: 10145.96, dt: 0.019999999998617568, error: Some(-2.3431843658272555e-5), p: Some(-1.1715921829136278e-5), i: Some(0.0), d: Some(-2.950549951379452e-6), output: -1.466647178051573e-5 }, PIDState { time: 10145.98, dt: 0.020000000000436557, error: Some(-2.4396837758899892e-5), p: Some(-1.2198418879449946e-5), i: Some(0.0), d: Some(-2.7934427848283012e-6), output: -1.4991861664278248e-5 }, PIDState { time: 10146.0, dt: 0.020000000000436557, error: Some(-2.528493902786977e-5), p: Some(-1.2642469513934884e-5), i: Some(0.0), d: Some(-2.6250883842985197e-6), output: -1.5267557898233404e-5 }, PIDState { time: 10146.02, dt: 0.020000000000436557, error: Some(-2.6092200101857088e-5), p: Some(-1.3046100050928544e-5), i: Some(0.0), d: Some(-2.4456926621270943e-6), output: -1.549179271305564e-5 }, PIDState { time: 10146.04, dt: 0.020000000000436557, error: Some(-2.68150106990106e-5), p: Some(-1.34075053495053e-5), i: Some(0.0), d: Some(-2.2556696849024086e-6), output: -1.566317503440771e-5 }, PIDState { time: 10146.06, dt: 0.019999999998617568, error: Some(-2.745016580263382e-5), p: Some(-1.372508290131691e-5), i: Some(0.0), d: Some(-2.055634010623353e-6), output: -1.5780716911940262e-5 }, PIDState { time: 10146.08, dt: 0.020000000000436557, error: Some(-2.7994926398378084e-5), p: Some(-1.3997463199189042e-5), i: Some(0.0), d: Some(-1.8463892559342923e-6), output: -1.5843852455123333e-5 }, PIDState { time: 10146.1, dt: 0.020000000000436557, error: Some(-2.8447071315440553e-5), p: Some(-1.4223535657720277e-5), i: Some(0.0), d: Some(-1.6289130927019013e-6), output: -1.5852448750422177e-5 }, PIDState { time: 10146.12, dt: 0.020000000000436557, error: Some(-2.880493954648955e-5), p: Some(-1.4402469773244775e-5), i: Some(0.0), d: Some(-1.404338952645064e-6), output: -1.580680872588984e-5 }, PIDState { time: 10146.14, dt: 0.019999999998617568, error: Some(-2.9067462023135704e-5), p: Some(-1.4533731011567852e-5), i: Some(0.0), d: Some(-1.1739348237685167e-6), output: -1.5707665835336367e-5 }, PIDState { time: 10146.16, dt: 0.020000000000436557, error: Some(-2.9234182335358128e-5), p: Some(-1.4617091167679064e-5), i: Some(0.0), d: Some(-9.390795382581472e-7), output: -1.555617070593721e-5 }, PIDState { time: 10146.18, dt: 0.020000000000436557, error: Some(-2.9305266082246817e-5), p: Some(-1.4652633041123408e-5), i: Some(0.0), d: Some(-7.012370008607232e-7), output: -1.535387004198413e-5 }, PIDState { time: 10146.2, dt: 0.020000000000436557, error: Some(-2.9281498598265898e-5), p: Some(-1.4640749299132949e-5), i: Some(0.0), d: Some(-4.619288590427292e-7), output: -1.5102678158175678e-5 }, PIDState { time: 10146.22, dt: 0.019999999998617568, error: Some(-2.916427106924857e-5), p: Some(-1.4582135534624285e-5), i: Some(0.0), d: Some(-2.2270611050510924e-7), output: -1.4804841645129395e-5 }, PIDState { time: 10146.24, dt: 0.020000000000436557, error: Some(-2.8955555293919133e-5), p: Some(-1.4477777646959566e-5), i: Some(0.0), d: Some(1.4879859351708825e-8), output: -1.4462897787607857e-5 }, PIDState { time: 10146.26, dt: 0.020000000000436557, error: Some(-2.865786754568944e-5), p: Some(-1.432893377284472e-5), i: Some(0.0), d: Some(2.493062855481402e-7), output: -1.4079627487296581e-5 }, PIDState { time: 10146.28, dt: 0.020000000000436557, error: Some(-2.8274222117374848e-5), p: Some(-1.4137111058687424e-5), i: Some(0.0), d: Some(4.79107554851911e-7), output: -1.3658003503835512e-5 }, PIDState { time: 10146.3, dt: 0.019999999998617568, error: Some(-2.7808075614643712e-5), p: Some(-1.3904037807321856e-5), i: Some(0.0), d: Some(7.029027195111936e-7), output: -1.3201135087810663e-5 }, PIDState { time: 10146.32, dt: 0.020000000000436557, error: Some(-2.7263262893484352e-5), p: Some(-1.3631631446742176e-5), i: Some(0.0), d: Some(9.19421436189897e-7), output: -1.271221001055228e-5 }, PIDState { time: 10146.34, dt: 0.020000000000436557, error: Some(-2.6643925991720607e-5), p: Some(-1.3321962995860304e-5), i: Some(0.0), d: Some(1.1275278167811784e-6), output: -1.2194435179079125e-5 }, PIDState { time: 10146.36, dt: 0.020000000000436557, error: Some(-2.595443724828783e-5), p: Some(-1.2977218624143916e-5), i: Some(0.0), d: Some(1.326241732539859e-6), output: -1.1650976891604057e-5 }, PIDState { time: 10146.38, dt: 0.019999999998617568, error: Some(-2.519931821609589e-5), p: Some(-1.2599659108047945e-5), i: Some(0.0), d: Some(1.514757171252303e-6), output: -1.1084901936795642e-5 }, PIDState { time: 10146.4, dt: 0.020000000000436557, error: Some(-2.438315577535377e-5), p: Some(-1.2191577887676885e-5), i: Some(0.0), d: Some(1.6924572942025976e-6), output: -1.0499120593474287e-5 }, PIDState { time: 10146.42, dt: 0.020000000000436557, error: Some(-2.3510517095814976e-5), p: Some(-1.1755258547907488e-5), i: Some(0.0), d: Some(1.8589259182450427e-6), output: -9.896332629662446e-6 }, PIDState { time: 10146.44, dt: 0.020000000000436557, error: Some(-2.2585864982715975e-5), p: Some(-1.1292932491357988e-5), i: Some(0.0), d: Some(2.013955216421975e-6), output: -9.278977274936013e-6 }, PIDState { time: 10146.46, dt: 0.019999999998617568, error: Some(-2.16134752548669e-5), p: Some(-1.080673762743345e-5), i: Some(0.0), d: Some(2.157549504837173e-6), output: -8.649188122596276e-6 }, PIDState { time: 10146.48, dt: 0.020000000000436557, error: Some(-2.0597357703877606e-5), p: Some(-1.0298678851938803e-5), i: Some(0.0), d: Some(2.289925035433365e-6), output: -8.008753816505438e-6 }, PIDState { time: 10146.5, dt: 0.020000000000436557, error: Some(-1.954118198455035e-5), p: Some(-9.770590992275174e-6), i: Some(0.0), d: Some(2.411505817406305e-6), output: -7.359085174868869e-6 }, PIDState { time: 10146.52, dt: 0.020000000000436557, error: Some(-1.8448209957000472e-5), p: Some(-9.224104978500236e-6), i: Some(0.0), d: Some(2.522915566947455e-6), output: -6.7011894115527815e-6 }, PIDState { time: 10146.54, dt: 0.020000000000436557, error: Some(-1.7321235660006096e-5), p: Some(-8.660617830003048e-6), i: Some(0.0), d: Some(2.6249659404028052e-6), output: -6.035651889600242e-6 }, PIDState { time: 10146.56, dt: 0.019999999998617568, error: Some(-1.6162534024033448e-5), p: Some(-8.081267012016724e-6), i: Some(0.0), d: Some(2.7186412705975386e-6), output: -5.362625741419186e-6 }, PIDState { time: 10146.58, dt: 0.020000000000436557, error: Some(-1.4973819332908533e-5), p: Some(-7.486909666454267e-6), i: Some(0.0), d: Some(2.80508009863727e-6), output: -4.681829567816997e-6 }, PIDState { time: 10146.6, dt: 0.020000000000436557, error: Some(-1.375621408783445e-5), p: Some(-6.878107043917225e-6), i: Some(0.0), d: Some(2.8855538538294623e-6), output: -3.992553190087763e-6 }, PIDState { time: 10146.62, dt: 0.020000000000436557, error: Some(-1.2510228955875391e-5), p: Some(-6.2551144779376955e-6), i: Some(0.0), d: Some(2.9614430814184652e-6), output: -3.2936713965192303e-6 }, PIDState { time: 10146.64, dt: 0.019999999998617568, error: Some(-1.123575412975697e-5), p: Some(-5.617877064878485e-6), i: Some(0.0), d: Some(3.034211660526705e-6), output: -2.5836654043517798e-6 }, PIDState { time: 10146.66, dt: 0.020000000000436557, error: Some(-9.932062226880589e-6), p: Some(-4.9660311134402946e-6), i: Some(0.0), d: Some(3.105379480633093e-6), output: -1.8606516328072018e-6 }, PIDState { time: 10146.68, dt: 0.020000000000436557, error: Some(-8.597822784395248e-6), p: Some(-4.298911392197624e-6), i: Some(0.0), d: Some(3.1764940876132606e-6), output: -1.1224173045843635e-6 }, PIDState { time: 10146.7, dt: 0.020000000000436557, error: Some(-7.2311281087422685e-6), p: Some(-3.6155640543711343e-6), i: Some(0.0), d: Some(3.2491017764983785e-6), output: -3.664622778727557e-7 }, PIDState { time: 10146.72, dt: 0.019999999998617568, error: Some(-5.829529925449606e-6), p: Some(-2.914764962724803e-6), i: Some(0.0), d: Some(3.3247186551295504e-6), output: 4.0995369240474753e-7 }, PIDState { time: 10146.74, dt: 0.020000000000436557, error: Some(-4.390086189687281e-6), p: Some(-2.1950430948436406e-6), i: Some(0.0), d: Some(3.4048022276256195e-6), output: 1.209759132781979e-6 }, PIDState { time: 10146.76, dt: 0.020000000000436557, error: Some(-2.909417233354361e-6), p: Some(-1.4547086166771805e-6), i: Some(0.0), d: Some(3.490724042757503e-6), output: 2.0360154260803224e-6 }, PIDState { time: 10146.78, dt: 0.020000000000436557, error: Some(-1.3837699981422702e-6), p: Some(-6.918849990711351e-7), i: Some(0.0), d: Some(3.5837439286571017e-6), output: 2.8918589295859666e-6 }, PIDState { time: 10146.8, dt: 0.019999999998617568, error: Some(1.9091069702881214e-7), p: Some(9.545534851440607e-8), i: Some(0.0), d: Some(3.6849863529697883e-6), output: 3.7804417014841943e-6 }, PIDState { time: 10146.82, dt: 0.020000000000436557, error: Some(1.8189052184425236e-6), p: Some(9.094526092212618e-7), i: Some(0.0), d: Some(3.7954193412526673e-6), output: 4.704871950473929e-6 }, PIDState { time: 10146.84, dt: 0.020000000000436557, error: Some(3.504638044660169e-6), p: Some(1.7523190223300844e-6), i: Some(0.0), d: Some(3.915836350012049e-6), output: 5.668155372342133e-6 }, PIDState { time: 10146.86, dt: 0.020000000000436557, error: Some(5.252594050375592e-6), p: Some(2.626297025187796e-6), i: Some(0.0), d: Some(4.046841445751844e-6), output: 6.67313847093964e-6 }, PIDState { time: 10146.88, dt: 0.019999999998617568, error: Some(7.0672336391908175e-6), p: Some(3.5336168195954087e-6), i: Some(0.0), d: Some(4.188838072034237e-6), output: 7.722454891629645e-6 }, PIDState { time: 10146.9, dt: 0.020000000000436557, error: Some(8.95290847324759e-6), p: Some(4.476454236623795e-6), i: Some(0.0), d: Some(4.34202158926048e-6), output: 8.818475825884275e-6 }, PIDState { time: 10146.92, dt: 0.020000000000436557, error: Some(1.0913779249221989e-5), p: Some(5.456889624610994e-6), i: Some(0.0), d: Some(4.506375744264572e-6), output: 9.963265368875567e-6 }, PIDState { time: 10146.94, dt: 0.020000000000436557, error: Some(1.2953737069665294e-5), p: Some(6.476868534832647e-6), i: Some(0.0), d: Some(4.6816731027844944e-6), output: 1.1158541637617142e-5 }, PIDState { time: 10146.96, dt: 0.019999999998617568, error: Some(1.5076329930252541e-5), p: Some(7.5381649651262705e-6), i: Some(0.0), d: Some(4.867479429858102e-6), output: 1.2405644394984373e-5 }, PIDState { time: 10146.98, dt: 0.020000000000436557, error: Some(1.728469565875912e-5), p: Some(8.64234782937956e-6), i: Some(0.0), d: Some(5.063161930950235e-6), output: 1.3705509760329795e-5 }, PIDState { time: 10147.0, dt: 0.020000000000436557, error: Some(1.7197779271782565e-5), p: Some(8.598889635891283e-6), i: Some(0.0), d: Some(4.865914441602267e-6), output: 1.346480407749355e-5 }, PIDState { time: 10147.02, dt: 0.020000000000436557, error: Some(1.4807924216597712e-5), p: Some(7.403962108298856e-6), i: Some(0.0), d: Some(3.4116431232216612e-6), output: 1.0815605231520517e-5 }, PIDState { time: 10147.04, dt: 0.020000000000436557, error: Some(1.25139414279829e-5), p: Some(6.25697071399145e-6), i: Some(0.0), d: Some(6.832321623074713e-7), output: 6.940202876298921e-6 }, PIDState { time: 10147.06, dt: 0.019999999998617568, error: Some(1.031695853725978e-5), p: Some(5.15847926862989e-6), i: Some(0.0), d: Some(-2.1746329046673373e-6), output: 2.9838463639625524e-6 }, PIDState { time: 10147.08, dt: 0.020000000000436557, error: Some(8.21748554358237e-6), p: Some(4.108742771791185e-6), i: Some(0.0), d: Some(-4.249497159331095e-6), output: -1.4075438753991004e-7 }, PIDState { time: 10147.1, dt: 0.020000000000436557, error: Some(6.21540480949534e-6), p: Some(3.10770240474767e-6), i: Some(0.0), d: Some(-5.375625556724751e-6), output: -2.267923151977081e-6 }, PIDState { time: 10147.12, dt: 0.020000000000436557, error: Some(4.309972382543492e-6), p: Some(2.154986191271746e-6), i: Some(0.0), d: Some(-5.740670483235331e-6), output: -3.585684291963585e-6 }, PIDState { time: 10147.14, dt: 0.019999999998617568, error: Some(2.499831182944945e-6), p: Some(1.2499155914724724e-6), i: Some(0.0), d: Some(-5.627951131587902e-6), output: -4.3780355401154294e-6 }, PIDState { time: 10147.16, dt: 0.020000000000436557, error: Some(7.830355741589301e-7), p: Some(3.9151778707946505e-7), i: Some(0.0), d: Some(-5.284244274999972e-6), output: -4.892726487920507e-6 }, PIDState { time: 10147.18, dt: 0.020000000000436557, error: Some(-8.429128826037413e-7), p: Some(-4.2145644130187065e-7), i: Some(0.0), d: Some(-4.8750514682465466e-6), output: -5.296507909548417e-6 }, PIDState { time: 10147.2, dt: 0.020000000000436557, error: Some(-2.381019456265676e-6), p: Some(-1.190509728132838e-6), i: Some(0.0), d: Some(-4.488039083509853e-6), output: -5.678548811642691e-6 }, PIDState { time: 10147.22, dt: 0.019999999998617568, error: Some(-3.834740681440962e-6), p: Some(-1.917370340720481e-6), i: Some(0.0), d: Some(-4.155429036242966e-6), output: -6.0727993769634474e-6 }, PIDState { time: 10147.24, dt: 0.020000000000436557, error: Some(-5.207920352745532e-6), p: Some(-2.603960176372766e-6), i: Some(0.0), d: Some(-3.878164506241509e-6), output: -6.482124682614275e-6 }, PIDState { time: 10147.26, dt: 0.020000000000436557, error: Some(-6.504718271571619e-6), p: Some(-3.2523591357858095e-6), i: Some(0.0), d: Some(-3.64428227909885e-6), output: -6.89664141488466e-6 }, PIDState { time: 10147.28, dt: 0.020000000000436557, error: Some(-7.72953312377922e-6), p: Some(-3.86476656188961e-6), i: Some(0.0), d: Some(-3.4399314592166547e-6), output: -7.3046980211062646e-6 }, PIDState { time: 10147.3, dt: 0.019999999998617568, error: Some(-8.88692085254661e-6), p: Some(-4.443460426273305e-6), i: Some(0.0), d: Some(-3.2543795586885263e-6), output: -7.69783998496183e-6 }, PIDState { time: 10147.32, dt: 0.020000000000436557, error: Some(-9.981510174839059e-6), p: Some(-4.9907550874195294e-6), i: Some(0.0), d: Some(-3.0811828202092114e-6), output: -8.07193790762874e-6 }, PIDState { time: 10147.34, dt: 0.020000000000436557, error: Some(-1.1017916790478921e-5), p: Some(-5.5089583952394605e-6), i: Some(0.0), d: Some(-2.9174554142800633e-6), output: -8.426413809519523e-6 }, PIDState { time: 10147.36, dt: 0.020000000000436557, error: Some(-1.2000657832800243e-5), p: Some(-6.000328916400122e-6), i: Some(0.0), d: Some(-2.762550145677355e-6), output: -8.762879062077476e-6 }, PIDState { time: 10147.38, dt: 0.019999999998617568, error: Some(-1.2934068280401334e-5), p: Some(-6.467034140200667e-6), i: Some(0.0), d: Some(-2.616852401272105e-6), output: -9.083886541472772e-6 }, PIDState { time: 10147.4, dt: 0.020000000000436557, error: Some(-1.382222075108075e-5), p: Some(-6.911110375540375e-6), i: Some(0.0), d: Some(-2.4809475302476217e-6), output: -9.392057905787996e-6 }, PIDState { time: 10147.42, dt: 0.020000000000436557, error: Some(-1.4668850312204995e-5), p: Some(-7.3344251561024976e-6), i: Some(0.0), d: Some(-2.355169358385599e-6), output: -9.689594514488097e-6 }, PIDState { time: 10147.44, dt: 0.020000000000436557, error: Some(-1.5477285586484868e-5), p: Some(-7.738642793242434e-6), i: Some(0.0), d: Some(-2.2394311736964424e-6), output: -9.978073966938877e-6 }, PIDState { time: 10147.46, dt: 0.019999999998617568, error: Some(-1.6250387503191632e-5), p: Some(-8.125193751595816e-6), i: Some(0.0), d: Some(-2.1332231839687144e-6), output: -1.025841693556453e-5 }, PIDState { time: 10147.48, dt: 0.020000000000436557, error: Some(-1.6990496803259703e-5), p: Some(-8.495248401629851e-6), i: Some(0.0), d: Some(-2.0356844929391646e-6), output: -1.0530932894569016e-5 }, PIDState { time: 10147.5, dt: 0.020000000000436557, error: Some(-1.7699391250403096e-5), p: Some(-8.849695625201548e-6), i: Some(0.0), d: Some(-1.945692299668358e-6), output: -1.0795387924869906e-5 }, PIDState { time: 10147.52, dt: 0.020000000000436557, error: Some(-1.8378253400896938e-5), p: Some(-9.189126700448469e-6), i: Some(0.0), d: Some(-1.8619406655961642e-6), output: -1.1051067366044634e-5 }, PIDState { time: 10147.54, dt: 0.020000000000436557, error: Some(-1.9027649400982227e-5), p: Some(-9.513824700491114e-6), i: Some(0.0), d: Some(-1.783000783765271e-6), output: -1.1296825484256385e-5 }, PIDState { time: 10147.56, dt: 0.019999999998617568, error: Some(-1.964751935190634e-5), p: Some(-9.82375967595317e-6), i: Some(0.0), d: Some(-1.7073647989497115e-6), output: -1.153112447490288e-5 }, PIDState { time: 10147.58, dt: 0.020000000000436557, error: Some(-2.0237179285231832e-5), p: Some(-1.0118589642615916e-5), i: Some(0.0), d: Some(-1.6334787327470238e-6), output: -1.175206837536294e-5 }, PIDState { time: 10147.6, dt: 0.020000000000436557, error: Some(-2.0795334847889535e-5), p: Some(-1.0397667423944768e-5), i: Some(0.0), d: Some(-1.559769871046094e-6), output: -1.1957437294990862e-5 }, PIDState { time: 10147.62, dt: 0.020000000000436557, error: Some(-2.1320106512234815e-5), p: Some(-1.0660053256117408e-5), i: Some(0.0), d: Some(-1.4846723231002576e-6), output: -1.2144725579217666e-5 }, PIDState { time: 10147.64, dt: 0.019999999998617568, error: Some(-2.180906568582941e-5), p: Some(-1.0904532842914705e-5), i: Some(0.0), d: Some(-1.4066526327104475e-6), output: -1.2311185475625152e-5 }, PIDState { time: 10147.66, dt: 0.020000000000436557, error: Some(-2.2259281223568905e-5), p: Some(-1.1129640611784453e-5), i: Some(0.0), d: Some(-1.324235872020489e-6), output: -1.2453876483804942e-5 }, PIDState { time: 10147.68, dt: 0.020000000000436557, error: Some(-2.2667375318974337e-5), p: Some(-1.1333687659487168e-5), i: Some(0.0), d: Some(-1.2360318247008308e-6), output: -1.2569719484187998e-5 }, PIDState { time: 10147.7, dt: 0.020000000000436557, error: Some(-2.3029587765677206e-5), p: Some(-1.1514793882838603e-5), i: Some(0.0), d: Some(-1.1407604673242118e-6), output: -1.2655554350162814e-5 }, PIDState { time: 10147.72, dt: 0.019999999998617568, error: Some(-2.3341847381175285e-5), p: Some(-1.1670923690587642e-5), i: Some(0.0), d: Some(-1.037275900931529e-6), output: -1.270819959151917e-5 }, PIDState { time: 10147.74, dt: 0.020000000000436557, error: Some(-2.3599849214406277e-5), p: Some(-1.1799924607203138e-5), i: Some(0.0), d: Some(-9.245879861971738e-7), output: -1.2724512593400311e-5 }, PIDState { time: 10147.76, dt: 0.020000000000436557, error: Some(-2.379913615868645e-5), p: Some(-1.1899568079343226e-5), i: Some(0.0), d: Some(-8.018810964344953e-7), output: -1.2701449175777721e-5 }, PIDState { time: 10147.78, dt: 0.020000000000436557, error: Some(-2.3935183250500813e-5), p: Some(-1.1967591625250407e-5), i: Some(0.0), d: Some(-6.685295327505473e-7), output: -1.2636121158000954e-5 }, PIDState { time: 10147.8, dt: 0.019999999998617568, error: Some(-2.400348331832447e-5), p: Some(-1.2001741659162235e-5), i: Some(0.0), d: Some(-5.241092804376864e-7), output: -1.2525850939599921e-5 }, PIDState { time: 10147.82, dt: 0.020000000000436557, error: Some(-2.399963211985323e-5), p: Some(-1.1999816059926616e-5), i: Some(0.0), d: Some(-3.68405903580708e-7), output: -1.2368221963507323e-5 }, PIDState { time: 10147.84, dt: 0.020000000000436557, error: Some(-2.3919411631823095e-5), p: Some(-1.1959705815911548e-5), i: Some(0.0), d: Some(-2.0141846002822783e-7), output: -1.2161124275939775e-5 }, PIDState { time: 10147.86, dt: 0.020000000000436557, error: Some(-2.3758869687640072e-5), p: Some(-1.1879434843820036e-5), i: Some(0.0), d: Some(-2.3359390802875362e-8), output: -1.1902794234622911e-5 }, PIDState { time: 10147.88, dt: 0.019999999998617568, error: Some(-2.351439471226513e-5), p: Some(-1.1757197356132565e-5), i: Some(0.0), d: Some(1.6534959157356204e-7), output: -1.1591847764559003e-5 }, PIDState { time: 10147.9, dt: 0.020000000000436557, error: Some(-2.3182783948527685e-5), p: Some(-1.1591391974263843e-5), i: Some(0.0), d: Some(3.6408552448946057e-7), output: -1.1227306449774383e-5 }, PIDState { time: 10147.92, dt: 0.020000000000436557, error: Some(-2.276130412326438e-5), p: Some(-1.138065206163219e-5), i: Some(0.0), d: Some(5.720359632530199e-7), output: -1.080861609837917e-5 }, PIDState { time: 10147.94, dt: 0.020000000000436557, error: Some(-2.2247743189041103e-5), p: Some(-1.1123871594520551e-5), i: Some(0.0), d: Some(7.882142725730337e-7), output: -1.0335657321947517e-5 }, PIDState { time: 10147.96, dt: 0.019999999998617568, error: Some(-2.164045245933721e-5), p: Some(-1.0820226229668606e-5), i: Some(0.0), d: Some(1.0114781519293409e-6), output: -9.808748077739265e-6 }, PIDState { time: 10147.98, dt: 0.020000000000436557, error: Some(-2.0938378114010447e-5), p: Some(-1.0469189057005224e-5), i: Some(0.0), d: Some(1.240551034266381e-6), output: -9.228638022738842e-6 }, PIDState { time: 10148.0, dt: 0.020000000000436557, error: Some(-2.0141081648716863e-5), p: Some(-1.0070540824358432e-5), i: Some(0.0), d: Some(1.47404596816564e-6), output: -8.596494856192792e-6 }, PIDState { time: 10148.02, dt: 0.020000000000436557, error: Some(-1.9248748913014424e-5), p: Some(-9.624374456507212e-6), i: Some(0.0), d: Some(1.710491525023687e-6), output: -7.913882931483524e-6 }, PIDState { time: 10148.04, dt: 0.020000000000436557, error: Some(-1.8262187410300612e-5), p: Some(-9.131093705150306e-6), i: Some(0.0), d: Some(1.9483592464854795e-6), output: -7.182734458664827e-6 }, PIDState { time: 10148.06, dt: 0.019999999998617568, error: Some(-1.7182812001692582e-5), p: Some(-8.591406000846291e-6), i: Some(0.0), d: Some(2.1860921599300877e-6), output: -6.405313840916204e-6 }, PIDState { time: 10148.08, dt: 0.020000000000436557, error: Some(-1.6012619212801837e-5), p: Some(-8.006309606400919e-6), i: Some(0.0), d: Some(2.422133852410559e-6), output: -5.58417575399036e-6 }, PIDState { time: 10148.1, dt: 0.020000000000436557, error: Some(-1.4754150541307354e-5), p: Some(-7.377075270653677e-6), i: Some(0.0), d: Some(2.654957587928654e-6), output: -4.722117682725023e-6 }, PIDState { time: 10148.12, dt: 0.020000000000436557, error: Some(-1.341044558955673e-5), p: Some(-6.705222794778365e-6), i: Some(0.0), d: Some(2.883094929118932e-6), output: -3.822127865659433e-6 }, PIDState { time: 10148.14, dt: 0.019999999998617568, error: Some(-1.1984985860635788e-5), p: Some(-5.992492930317894e-6), i: Some(0.0), d: Some(3.1051632971465923e-6), output: -2.887329633171302e-6 }, PIDState { time: 10148.16, dt: 0.020000000000436557, error: Some(-1.0481630198455605e-5), p: Some(-5.240815099227802e-6), i: Some(0.0), d: Some(3.3198919271837395e-6), output: -1.920923172044063e-6 }, PIDState { time: 10148.18, dt: 0.020000000000436557, error: Some(-8.904543264520726e-6), p: Some(-4.452271632260363e-6), i: Some(0.0), d: Some(3.52614573048775e-6), output: -9.261259017726128e-7 }, PIDState { time: 10148.2, dt: 0.020000000000436557, error: Some(-7.258118259301227e-6), p: Some(-3.6290591296506136e-6), i: Some(0.0), d: Some(3.7229465753926693e-6), output: 9.388744574205565e-8 }, PIDState { time: 10148.22, dt: 0.019999999998617568, error: Some(-5.5468954087700695e-6), p: Some(-2.7734477043850347e-6), i: Some(0.0), d: Some(3.90949159652013e-6), output: 1.1360438921350952e-6 }, PIDState { time: 10148.24, dt: 0.020000000000436557, error: Some(-3.775477722456344e-6), p: Some(-1.887738861228172e-6), i: Some(0.0), d: Some(4.085168190792616e-6), output: 2.1974293295644436e-6 }, PIDState { time: 10148.26, dt: 0.020000000000436557, error: Some(-1.948445643051855e-6), p: Some(-9.742228215259274e-7), i: Some(0.0), d: Some(4.2495654274873565e-6), output: 3.275342605961429e-6 }, PIDState { time: 10148.28, dt: 0.020000000000436557, error: Some(-7.027219339761359e-8), p: Some(-3.5136096698806796e-8), i: Some(0.0), d: Some(4.402481640959268e-6), output: 4.3673455442604615e-6 }, PIDState { time: 10148.3, dt: 0.019999999998617568, error: Some(1.8547598870100046e-6), p: Some(9.273799435050023e-7), i: Some(0.0), d: Some(4.543928090272638e-6), output: 5.47130803377764e-6 }, PIDState { time: 10148.32, dt: 0.020000000000436557, error: Some(3.822637353323444e-6), p: Some(1.911318676661722e-6), i: Some(0.0), d: Some(4.674128630612707e-6), output: 6.585447307274429e-6 }, PIDState { time: 10148.34, dt: 0.020000000000436557, error: Some(5.829690536529597e-6), p: Some(2.9148452682647985e-6), i: Some(0.0), d: Some(4.793515402378934e-6), output: 7.708360670643733e-6 }, PIDState { time: 10148.36, dt: 0.020000000000436557, error: Some(7.87266110080509e-6), p: Some(3.936330550402545e-6), i: Some(0.0), d: Some(4.90272061708279e-6), output: 8.839051167485335e-6 }, PIDState { time: 10148.38, dt: 0.019999999998617568, error: Some(9.948761970690612e-6), p: Some(4.974380985345306e-6), i: Some(0.0), d: Some(5.00256463880922e-6), output: 9.976945624154526e-6 }, PIDState { time: 10148.4, dt: 0.020000000000436557, error: Some(1.2055728461746185e-5), p: Some(6.027864230873092e-6), i: Some(0.0), d: Some(5.094040554274753e-6), output: 1.1121904785147846e-5 }, PIDState { time: 10148.42, dt: 0.020000000000436557, error: Some(1.419185971940351e-5), p: Some(7.095929859701755e-6), i: Some(0.0), d: Some(5.178295543626092e-6), output: 1.2274225403327847e-5 }, PIDState { time: 10148.44, dt: 0.020000000000436557, error: Some(1.6356049528098993e-5), p: Some(8.178024764049496e-6), i: Some(0.0), d: Some(5.256609401449288e-6), output: 1.3434634165498784e-5 }, PIDState { time: 10148.46, dt: 0.019999999998617568, error: Some(1.8547806106994358e-5), p: Some(9.273903053497179e-6), i: Some(0.0), d: Some(5.330370609861253e-6), output: 1.4604273663358431e-5 }, PIDState { time: 10148.48, dt: 0.020000000000436557, error: Some(2.076726039490495e-5), p: Some(1.0383630197452476e-5), i: Some(0.0), d: Some(5.401050400870786e-6), output: 1.578468059832326e-5 }, PIDState { time: 10148.5, dt: 0.020000000000436557, error: Some(2.30151627675923e-5), p: Some(1.150758138379615e-5), i: Some(0.0), d: Some(5.47017530616151e-6), output: 1.697775668995766e-5 }, PIDState { time: 10148.52, dt: 0.020000000000436557, error: Some(2.5292868102155808e-5), p: Some(1.2646434051077904e-5), i: Some(0.0), d: Some(5.539298669776979e-6), output: 1.8185732720854883e-5 }, PIDState { time: 10148.54, dt: 0.020000000000436557, error: Some(2.760230952958409e-5), p: Some(1.3801154764792045e-5), i: Some(0.0), d: Some(5.6099716405335385e-6), output: 1.9411126405325583e-5 }, PIDState { time: 10148.56, dt: 0.019999999998617568, error: Some(2.9945961244948194e-5), p: Some(1.4972980622474097e-5), i: Some(0.0), d: Some(5.683714146143375e-6), output: 2.065669476861747e-5 }, PIDState { time: 10148.58, dt: 0.020000000000436557, error: Some(3.232679122788795e-5), p: Some(1.6163395613943976e-5), i: Some(0.0), d: Some(5.76198639024374e-6), output: 2.1925382004187717e-5 }, PIDState { time: 10148.6, dt: 0.020000000000436557, error: Some(3.474820466919937e-5), p: Some(1.7374102334599684e-5), i: Some(0.0), d: Some(5.84616144849691e-6), output: 2.3220263783096594e-5 }, PIDState { time: 10148.62, dt: 0.020000000000436557, error: Some(3.721397919775882e-5), p: Some(1.860698959887941e-5), i: Some(0.0), d: Some(5.937499481495306e-6), output: 2.4544489080374714e-5 }, PIDState { time: 10148.64, dt: 0.019999999998617568, error: Some(3.972819315833931e-5), p: Some(1.9864096579169654e-5), i: Some(0.0), d: Some(6.0371240794207475e-6), output: 2.59012206585904e-5 }, PIDState { time: 10148.66, dt: 0.020000000000436557, error: Some(3.9903283237663345e-5), p: Some(1.9951641618831673e-5), i: Some(0.0), d: Some(5.742641409084967e-6), output: 2.569428302791664e-5 }, PIDState { time: 10148.68, dt: 0.020000000000436557, error: Some(3.773494663050769e-5), p: Some(1.8867473315253847e-5), i: Some(0.0), d: Some(4.188974571295171e-6), output: 2.3056447886549017e-5 }, PIDState { time: 10148.7, dt: 0.020000000000436557, error: Some(3.5632003871910456e-5), p: Some(1.7816001935955228e-5), i: Some(0.0), d: Some(1.3609064348429437e-6), output: 1.917690837079817e-5 }, PIDState { time: 10148.72, dt: 0.019999999998617568, error: Some(3.3599061197264746e-5), p: Some(1.6799530598632373e-5), i: Some(0.0), d: Some(-1.5914948870892393e-6), output: 1.5208035711543134e-5 }, PIDState { time: 10148.74, dt: 0.020000000000436557, error: Some(3.164060623817022e-5), p: Some(1.582030311908511e-5), i: Some(0.0), d: Some(-3.7514022399455543e-6), output: 1.2068900879139557e-5 }, PIDState { time: 10148.76, dt: 0.020000000000436557, error: Some(2.976092339679326e-5), p: Some(1.488046169839663e-5), i: Some(0.0), d: Some(-4.951166627568223e-6), output: 9.929295070828407e-6 }, PIDState { time: 10148.78, dt: 0.020000000000436557, error: Some(2.7964012872416788e-5), p: Some(1.3982006436208394e-5), i: Some(0.0), d: Some(-5.377772702909021e-6), output: 8.604233733299372e-6 }, PIDState { time: 10148.8, dt: 0.019999999998617568, error: Some(2.6253515130747473e-5), p: Some(1.3126757565373737e-5), i: Some(0.0), d: Some(-5.3143368449039175e-6), output: 7.81242072046982e-6 }, PIDState { time: 10148.82, dt: 0.020000000000436557, error: Some(2.463264209495719e-5), p: Some(1.2316321047478596e-5), i: Some(0.0), d: Some(-5.007509514734321e-6), output: 7.3088115327442744e-6 }, PIDState { time: 10148.84, dt: 0.020000000000436557, error: Some(2.3104116380068263e-5), p: Some(1.1552058190034131e-5), i: Some(0.0), d: Some(-4.622624208233629e-6), output: 6.9294339818005025e-6 }, PIDState { time: 10148.86, dt: 0.020000000000436557, error: Some(2.1670119636496565e-5), p: Some(1.0835059818248283e-5), i: Some(0.0), d: Some(-4.247164708270677e-6), output: 6.587895109977606e-6 }, PIDState { time: 10148.88, dt: 0.019999999998617568, error: Some(2.033225106856662e-5), p: Some(1.016612553428331e-5), i: Some(0.0), d: Some(-3.91323653642915e-6), output: 6.25288899785416e-6 }, PIDState { time: 10148.9, dt: 0.020000000000436557, error: Some(1.909149675327626e-5), p: Some(9.54574837663813e-6), i: Some(0.0), d: Some(-3.6218133001249697e-6), output: 5.92393507651316e-6 }, PIDState { time: 10148.92, dt: 0.020000000000436557, error: Some(1.794821046985362e-5), p: Some(8.97410523492681e-6), i: Some(0.0), d: Some(-3.3611662510276046e-6), output: 5.612938983899206e-6 }, PIDState { time: 10148.94, dt: 0.020000000000436557, error: Some(1.6902106224847557e-5), p: Some(8.451053112423779e-6), i: Some(0.0), d: Some(-3.1179122956406085e-6), output: 5.3331408167831705e-6 }, PIDState { time: 10148.96, dt: 0.019999999998617568, error: Some(1.5952262799601158e-5), p: Some(7.976131399800579e-6), i: Some(0.0), d: Some(-2.8820259991782637e-6), output: 5.094105400622315e-6 }, PIDState { time: 10148.98, dt: 0.020000000000436557, error: Some(1.5097140149578081e-5), p: Some(7.5485700747890405e-6), i: Some(0.0), d: Some(-2.647999540528346e-6), output: 4.900570534260695e-6 }, PIDState { time: 10149.0, dt: 0.020000000000436557, error: Some(1.4334607428168056e-5), p: Some(7.167303714084028e-6), i: Some(0.0), d: Some(-2.414091575203403e-6), output: 4.753212138880625e-6 }, PIDState { time: 10149.02, dt: 0.020000000000436557, error: Some(1.366198219443504e-5), p: Some(6.83099109721752e-6), i: Some(0.0), d: Some(-2.1809820573950206e-6), output: 4.650009039822499e-6 }, PIDState { time: 10149.04, dt: 0.020000000000436557, error: Some(1.3076079909524196e-5), p: Some(6.538039954762098e-6), i: Some(0.0), d: Some(-1.9505373363007167e-6), output: 4.587502618461381e-6 }, PIDState { time: 10149.06, dt: 0.019999999998617568, error: Some(1.2573272854865536e-5), p: Some(6.286636427432768e-6), i: Some(0.0), d: Some(-1.7249470291875655e-6), output: 4.561689398245202e-6 }, PIDState { time: 10149.08, dt: 0.020000000000436557, error: Some(1.2149557377938436e-5), p: Some(6.074778688969218e-6), i: Some(0.0), d: Some(-1.5062409370644751e-6), output: 4.568537751904743e-6 }, PIDState { time: 10149.1, dt: 0.020000000000436557, error: Some(1.1800628158198379e-5), p: Some(5.900314079099189e-6), i: Some(0.0), d: Some(-1.2960876098835714e-6), output: 4.604226469215617e-6 }, PIDState { time: 10149.12, dt: 0.020000000000436557, error: Some(1.1521958072080452e-5), p: Some(5.760979036040226e-6), i: Some(0.0), d: Some(-1.0957588084918526e-6), output: 4.665220227548373e-6 }, PIDState { time: 10149.14, dt: 0.019999999998617568, error: Some(1.1308882207572424e-5), p: Some(5.654441103786212e-6), i: Some(0.0), d: Some(-9.061682691696218e-7), output: 4.74827283461659e-6 }, PIDState { time: 10149.16, dt: 0.020000000000436557, error: Some(1.1156684408319961e-5), p: Some(5.578342204159981e-6), i: Some(0.0), d: Some(-7.279279083523015e-7), output: 4.850414295807679e-6 }, PIDState { time: 10149.18, dt: 0.020000000000436557, error: Some(1.1060684698804835e-5), p: Some(5.530342349402417e-6), i: Some(0.0), d: Some(-5.613943617906476e-7), output: 4.96894798761177e-6 }, PIDState { time: 10149.2, dt: 0.020000000000436557, error: Some(1.1016326013191247e-5), p: Some(5.508163006595623e-6), i: Some(0.0), d: Some(-4.0669836819081785e-7), output: 5.1014646384048056e-6 }, PIDState { time: 10149.22, dt: 0.019999999998617568, error: Some(1.1019258565170276e-5), p: Some(5.509629282585138e-6), i: Some(0.0), d: Some(-2.6375962851215524e-7), output: 5.245869654072982e-6 }, PIDState { time: 10149.24, dt: 0.020000000000436557, error: Some(1.1065420295608419e-5), p: Some(5.5327101478042096e-6), i: Some(0.0), d: Some(-1.322932336960052e-7), output: 5.400416914108204e-6 }, PIDState { time: 10149.26, dt: 0.020000000000436557, error: Some(1.115111187743878e-5), p: Some(5.57555593871939e-6), i: Some(0.0), d: Some(-1.181351668225484e-8), output: 5.563742422037135e-6 }, PIDState { time: 10149.28, dt: 0.020000000000436557, error: Some(1.1273064941974553e-5), p: Some(5.636532470987277e-6), i: Some(0.0), d: Some(9.836055851272744e-8), output: 5.734893029500004e-6 }, PIDState { time: 10149.3, dt: 0.019999999998617568, error: Some(1.1428502205035329e-5), p: Some(5.7142511025176645e-6), i: Some(0.0), d: Some(1.990962567169548e-7), output: 5.913347359234619e-6 }, PIDState { time: 10149.32, dt: 0.020000000000436557, error: Some(1.1615188384439534e-5), p: Some(5.807594192219767e-6), i: Some(0.0), d: Some(2.9143342138337355e-7), output: 6.0990276136031405e-6 }, PIDState { time: 10149.34, dt: 0.020000000000436557, error: Some(1.1831471013579176e-5), p: Some(5.915735506789588e-6), i: Some(0.0), d: Some(3.765664701477591e-7), output: 6.292301976937347e-6 }, PIDState { time: 10149.36, dt: 0.020000000000436557, error: Some(1.2076310426323289e-5), p: Some(6.0381552131616445e-6), i: Some(0.0), d: Some(4.5582266365187225e-7), output: 6.4939778768135165e-6 }, PIDState { time: 10149.38, dt: 0.019999999998617568, error: Some(1.234929820270736e-5), p: Some(6.17464910135368e-6), i: Some(0.0), d: Some(5.306373978016316e-7), output: 6.705286499155311e-6 }, PIDState { time: 10149.4, dt: 0.020000000000436557, error: Some(1.2650663933300166e-5), p: Some(6.325331966650083e-6), i: Some(0.0), d: Some(6.025272455229482e-7), output: 6.927859212173031e-6 }, PIDState { time: 10149.42, dt: 0.020000000000436557, error: Some(1.2981270089085228e-5), p: Some(6.490635044542614e-6), i: Some(0.0), d: Some(6.730614525953838e-7), output: 7.163696497137998e-6 }, PIDState { time: 10149.44, dt: 0.020000000000436557, error: Some(1.3342594911591732e-5), p: Some(6.671297455795866e-6), i: Some(0.0), d: Some(7.438324833214757e-7), output: 7.415129939117342e-6 }, PIDState { time: 10149.46, dt: 0.019999999998617568, error: Some(1.3736703877498257e-5), p: Some(6.868351938749129e-6), i: Some(0.0), d: Some(8.164261493015196e-7), output: 7.684778088050648e-6 }, PIDState { time: 10149.48, dt: 0.020000000000436557, error: Some(1.4166209979293853e-5), p: Some(7.083104989646927e-6), i: Some(0.0), d: Some(8.923918651774056e-7), output: 7.975496854824332e-6 }, PIDState { time: 10149.5, dt: 0.020000000000436557, error: Some(1.463422385938884e-5), p: Some(7.31711192969442e-6), i: Some(0.0), d: Some(9.73213573814015e-7), output: 8.290325503508435e-6 }, PIDState { time: 10149.52, dt: 0.020000000000436557, error: Some(1.5144294494007227e-5), p: Some(7.572147247003613e-6), i: Some(0.0), d: Some(1.0602818891614069e-6), output: 8.63242913616502e-6 }, PIDState { time: 10149.54, dt: 0.020000000000436557, error: Some(1.5700341748470237e-5), p: Some(7.850170874235118e-6), i: Some(0.0), d: Some(1.1548679905224955e-6), output: 9.005038864757613e-6 }, PIDState { time: 10149.56, dt: 0.019999999998617568, error: Some(1.6306581969161016e-5), p: Some(8.153290984580508e-6), i: Some(0.0), d: Some(1.2580997734534974e-6), output: 9.411390758034005e-6 }, PIDState { time: 10149.58, dt: 0.020000000000436557, error: Some(1.6967448033256005e-5), p: Some(8.483724016628003e-6), i: Some(0.0), d: Some(1.3709407127424796e-6), output: 9.854664729370483e-6 }, PIDState { time: 10149.6, dt: 0.020000000000436557, error: Some(1.7687505433627848e-5), p: Some(8.843752716813924e-6), i: Some(0.0), d: Some(1.494171837799851e-6), output: 1.0337924554613776e-5 }, PIDState { time: 10149.62, dt: 0.020000000000436557, error: Some(1.8471365862637867e-5), p: Some(9.235682931318934e-6), i: Some(0.0), d: Some(1.6283771599312687e-6), output: 1.0864060091250203e-5 }, PIDState { time: 10149.64, dt: 0.019999999998617568, error: Some(1.9323600056964096e-5), p: Some(9.661800028482048e-6), i: Some(0.0), d: Some(1.7739328222914116e-6), output: 1.143573285077346e-5 }, PIDState { time: 10149.66, dt: 0.020000000000436557, error: Some(2.02486513671829e-5), p: Some(1.012432568359145e-5), i: Some(0.0), d: Some(1.9310001631090983e-6), output: 1.2055325846700549e-5 }, PIDState { time: 10149.68, dt: 0.020000000000436557, error: Some(2.1250751899515308e-5), p: Some(1.0625375949757654e-5), i: Some(0.0), d: Some(2.0995228225640663e-6), output: 1.272489877232172e-5 }, PIDState { time: 10149.7, dt: 0.020000000000436557, error: Some(2.2333842522925806e-5), p: Some(1.1166921261462903e-5), i: Some(0.0), d: Some(2.2792279372751355e-6), output: 1.3446149198738038e-5 }, PIDState { time: 10149.72, dt: 0.019999999998617568, error: Some(2.3501498446876212e-5), p: Some(1.1750749223438106e-5), i: Some(0.0), d: Some(2.469631380286552e-6), output: 1.4220380603724658e-5 }, PIDState { time: 10149.74, dt: 0.020000000000436557, error: Some(2.4756861677133202e-5), p: Some(1.2378430838566601e-5), i: Some(0.0), d: Some(2.6700469446532457e-6), output: 1.5048477783219847e-5 }, PIDState { time: 10149.76, dt: 0.020000000000436557, error: Some(2.6102581529130475e-5), p: Some(1.3051290764565238e-5), i: Some(0.0), d: Some(2.8795992992063847e-6), output: 1.5930890063771623e-5 }, PIDState { time: 10149.78, dt: 0.020000000000436557, error: Some(2.754076442101905e-5), p: Some(1.3770382210509524e-5), i: Some(0.0), d: Some(3.0972404428335606e-6), output: 1.6867622653343083e-5 }, PIDState { time: 10149.8, dt: 0.019999999998617568, error: Some(2.907293375642439e-5), p: Some(1.4536466878212195e-5), i: Some(0.0), d: Some(3.32176935829989e-6), output: 1.7858236236512087e-5 }, PIDState { time: 10149.82, dt: 0.020000000000436557, error: Some(3.070000073535084e-5), p: Some(1.535000036767542e-5), i: Some(0.0), d: Some(3.551854490370237e-6), output: 1.8901854858045657e-5 }, PIDState { time: 10149.84, dt: 0.020000000000436557, error: Some(3.242224657640236e-5), p: Some(1.621112328820118e-5), i: Some(0.0), d: Some(3.786058642027953e-6), output: 1.9997181930229133e-5 }, PIDState { time: 10149.86, dt: 0.020000000000436557, error: Some(3.4239316462958413e-5), p: Some(1.7119658231479207e-5), i: Some(0.0), d: Some(4.022865812948986e-6), output: 2.1142524044428195e-5 }, PIDState { time: 10149.88, dt: 0.019999999998617568, error: Some(3.615022534120271e-5), p: Some(1.8075112670601357e-5), i: Some(0.0), d: Some(4.260709482025554e-6), output: 2.233582215262691e-5 }, PIDState { time: 10149.9, dt: 0.020000000000436557, error: Some(3.57638648296188e-5), p: Some(1.78819324148094e-5), i: Some(0.0), d: Some(4.095039068624136e-6), output: 2.1976971483433535e-5 }, PIDState { time: 10149.92, dt: 0.020000000000436557, error: Some(3.307220050885462e-5), p: Some(1.653610025442731e-5), i: Some(0.0), d: Some(2.6597466783555135e-6), output: 1.9195846932782825e-5 }, PIDState { time: 10149.94, dt: 0.020000000000436557, error: Some(3.0471574248736033e-5), p: Some(1.5235787124368017e-5), i: Some(0.0), d: Some(-6.195487355146082e-8), output: 1.5173832250816555e-5 }, PIDState { time: 10149.96, dt: 0.019999999998617568, error: Some(2.7958900645330687e-5), p: Some(1.3979450322665343e-5), i: Some(0.0), d: Some(-2.9235407756028294e-6), output: 1.1055909547062514e-5 }, PIDState { time: 10149.98, dt: 0.020000000000436557, error: Some(2.5530653999794595e-5), p: Some(1.2765326999897297e-5), i: Some(0.0), d: Some(-5.011500462310019e-6), output: 7.75382653758728e-6 }, PIDState { time: 10150.0, dt: 0.020000000000436557, error: Some(2.318293392988835e-5), p: Some(1.1591466964944175e-5), i: Some(0.0), d: Some(-6.159843191524977e-6), output: 5.431623773419198e-6 }, PIDState { time: 10150.02, dt: 0.020000000000436557, error: Some(2.0911537689016768e-5), p: Some(1.0455768844508384e-5), i: Some(0.0), d: Some(-6.5561950137408875e-6), output: 3.899573830767497e-6 }, PIDState { time: 10150.04, dt: 0.020000000000436557, error: Some(1.8712038183821278e-5), p: Some(9.356019091910639e-6), i: Some(0.0), d: Some(-6.48373309041185e-6), output: 2.872286001498789e-6 }, PIDState { time: 10150.06, dt: 0.019999999998617568, error: Some(1.6579866098709317e-5), p: Some(8.289933049354659e-6), i: Some(0.0), d: Some(-6.188821703946841e-6), output: 2.1011113454078176e-6 }, PIDState { time: 10150.08, dt: 0.020000000000436557, error: Some(1.4510394564126727e-5), p: Some(7.255197282063364e-6), i: Some(0.0), d: Some(-5.8362499459622645e-6), output: 1.4189473361010992e-6 }, PIDState { time: 10150.1, dt: 0.020000000000436557, error: Some(1.2499024975909379e-5), p: Some(6.249512487954689e-6), i: Some(0.0), d: Some(-5.512707598632216e-6), output: 7.368048893224736e-7 }, PIDState { time: 10150.12, dt: 0.020000000000436557, error: Some(1.0541272104092059e-5), p: Some(5.270636052046029e-6), i: Some(0.0), d: Some(-5.249235242521437e-6), output: 2.140080952459227e-8 }, PIDState { time: 10150.14, dt: 0.019999999998617568, error: Some(8.632847155354284e-6), p: Some(4.316423577677142e-6), i: Some(0.0), d: Some(-5.045449845400731e-6), output: -7.290262677235887e-7 }, PIDState { time: 10150.16, dt: 0.020000000000436557, error: Some(6.769736970113627e-6), p: Some(3.3848684850568134e-6), i: Some(0.0), d: Some(-4.887968150473132e-6), output: -1.5030996654163184e-6 }, PIDState { time: 10150.18, dt: 0.020000000000436557, error: Some(4.9482782031873285e-6), p: Some(2.4741391015936642e-6), i: Some(0.0), d: Some(-4.761466392084114e-6), output: -2.2873272904904497e-6 }, PIDState { time: 10150.2, dt: 0.020000000000436557, error: Some(3.1652247685087787e-6), p: Some(1.5826123842543893e-6), i: Some(0.0), d: Some(-4.65371959973411e-6), output: -3.071107215479721e-6 }, PIDState { time: 10150.22, dt: 0.019999999998617568, error: Some(1.4178075673498824e-6), p: Some(7.089037836749412e-7), i: Some(0.0), d: Some(-4.556800384972182e-6), output: -3.847896601297241e-6 }, PIDState { time: 10150.24, dt: 0.020000000000436557, error: Some(-2.962147505058965e-7), p: Some(-1.4810737525294826e-7), i: Some(0.0), d: Some(-4.466374141886622e-6), output: -4.61448151713957e-6 }, PIDState { time: 10150.26, dt: 0.020000000000436557, error: Some(-1.978514887923666e-6), p: Some(-9.89257443961833e-7), i: Some(0.0), d: Some(-4.38040461085297e-6), output: -5.369662054814803e-6 }, PIDState { time: 10150.28, dt: 0.020000000000436557, error: Some(-3.630166574453142e-6), p: Some(-1.815083287226571e-6), i: Some(0.0), d: Some(-4.297971917083298e-6), output: -6.113055204309869e-6 }, PIDState { time: 10150.3, dt: 0.019999999998617568, error: Some(-5.251625466939913e-6), p: Some(-2.6258127334699566e-6), i: Some(0.0), d: Some(-4.218463088366806e-6), output: -6.844275821836763e-6 }, PIDState { time: 10150.32, dt: 0.020000000000436557, error: Some(-6.8427215609290215e-6), p: Some(-3.4213607804645108e-6), i: Some(0.0), d: Some(-4.141142251963577e-6), output: -7.562503032428088e-6 }, PIDState { time: 10150.34, dt: 0.020000000000436557, error: Some(-8.402663240758557e-6), p: Some(-4.201331620379278e-6), i: Some(0.0), d: Some(-4.065001279396355e-6), output: -8.266332899775632e-6 }, PIDState { time: 10150.36, dt: 0.020000000000436557, error: Some(-9.930053010975826e-6), p: Some(-4.965026505487913e-6), i: Some(0.0), d: Some(-3.98877432711511e-6), output: -8.953800832603022e-6 }, PIDState { time: 10150.38, dt: 0.019999999998617568, error: Some(-1.1422914639069859e-5), p: Some(-5.711457319534929e-6), i: Some(0.0), d: Some(-3.911023945450125e-6), output: -9.622481264985055e-6 }, PIDState { time: 10150.4, dt: 0.020000000000436557, error: Some(-1.2878731112664354e-5), p: Some(-6.439365556332177e-6), i: Some(0.0), d: Some(-3.830241133127092e-6), output: -1.026960668945927e-5 }, PIDState { time: 10150.42, dt: 0.020000000000436557, error: Some(-1.4294492800104308e-5), p: Some(-7.147246400052154e-6), i: Some(0.0), d: Some(-3.744931451208152e-6), output: -1.0892177851260307e-5 }, PIDState { time: 10150.44, dt: 0.020000000000436557, error: Some(-1.5666754833887353e-5), p: Some(-7.833377416943677e-6), i: Some(0.0), d: Some(-3.6536789588868795e-6), output: -1.1487056375830555e-5 }, PIDState { time: 10150.46, dt: 0.019999999998617568, error: Some(-1.699170266533656e-5), p: Some(-8.49585133266828e-6), i: Some(0.0), d: Some(-3.555189959831423e-6), output: -1.2051041292499703e-5 }, PIDState { time: 10150.48, dt: 0.020000000000436557, error: Some(-1.8265224468905217e-5), p: Some(-9.132612234452608e-6), i: Some(0.0), d: Some(-3.448322071160227e-6), output: -1.2580934305612835e-5 }, PIDState { time: 10150.5, dt: 0.020000000000436557, error: Some(-1.948298917398006e-5), p: Some(-9.74149458699003e-6), i: Some(0.0), d: Some(-3.3321040337231124e-6), output: -1.3073598620713141e-5 }, PIDState { time: 10150.52, dt: 0.020000000000436557, error: Some(-2.0640528489934695e-5), p: Some(-1.0320264244967348e-5), i: Some(0.0), d: Some(-3.205750073949494e-6), output: -1.3526014318916841e-5 }, PIDState { time: 10150.54, dt: 0.020000000000436557, error: Some(-2.173332151755858e-5), p: Some(-1.086666075877929e-5), i: Some(0.0), d: Some(-3.068670880094142e-6), output: -1.3935331638873432e-5 }, PIDState { time: 10150.56, dt: 0.019999999998617568, error: Some(-2.2756880241558974e-5), p: Some(-1.1378440120779487e-5), i: Some(0.0), d: Some(-2.9204819103581764e-6), output: -1.4298922031137663e-5 }, PIDState { time: 10150.58, dt: 0.020000000000436557, error: Some(-2.370683438357446e-5), p: Some(-1.185341719178723e-5), i: Some(0.0), d: Some(-2.7610089827874837e-6), output: -1.4614426174574713e-5 }, PIDState { time: 10150.6, dt: 0.020000000000436557, error: Some(-2.457901395302997e-5), p: Some(-1.2289506976514986e-5), i: Some(0.0), d: Some(-2.590290783628668e-6), output: -1.4879797760143653e-5 }, PIDState { time: 10150.62, dt: 0.020000000000436557, error: Some(-2.536952808895876e-5), p: Some(-1.268476404447938e-5), i: Some(0.0), d: Some(-2.408577910781238e-6), output: -1.5093341955260617e-5 }, PIDState { time: 10150.64, dt: 0.019999999998617568, error: Some(-2.607483855854298e-5), p: Some(-1.303741927927149e-5), i: Some(0.0), d: Some(-2.2163282104085154e-6), output: -1.5253747489680004e-5 }, PIDState { time: 10150.66, dt: 0.020000000000436557, error: Some(-2.6691826661817686e-5), p: Some(-1.3345913330908843e-5), i: Some(0.0), d: Some(-2.014198297901193e-6), output: -1.5360111628810035e-5 }, PIDState { time: 10150.68, dt: 0.020000000000436557, error: Some(-2.721785227777218e-5), p: Some(-1.360892613888609e-5), i: Some(0.0), d: Some(-1.8030313453742037e-6), output: -1.5411957484260293e-5 }, PIDState { time: 10150.7, dt: 0.020000000000436557, error: Some(-2.7650803971823734e-5), p: Some(-1.3825401985911867e-5), i: Some(0.0), d: Some(-1.5838413484406183e-6), output: -1.5409243334352486e-5 }, PIDState { time: 10150.72, dt: 0.019999999998617568, error: Some(-2.79891391272713e-5), p: Some(-1.399456956363565e-5), i: Some(0.0), d: Some(-1.357794166662926e-6), output: -1.5352363730298578e-5 }, PIDState { time: 10150.74, dt: 0.020000000000436557, error: Some(-2.8231913589138458e-5), p: Some(-1.4115956794569229e-5), i: Some(0.0), d: Some(-1.1261857042337546e-6), output: -1.5242142498802984e-5 }, PIDState { time: 10150.76, dt: 0.020000000000436557, error: Some(-2.8378800024597695e-5), p: Some(-1.4189400012298847e-5), i: Some(0.0), d: Some(-8.904176777129937e-7), output: -1.507981769001184e-5 }, PIDState { time: 10150.78, dt: 0.020000000000436557, error: Some(-2.843009490050008e-5), p: Some(-1.421504745025004e-5), i: Some(0.0), d: Some(-6.519714292563874e-7), output: -1.4867018879506428e-5 }, PIDState { time: 10150.8, dt: 0.019999999998617568, error: Some(-2.8386713736949787e-5), p: Some(-1.4193356868474893e-5), i: Some(0.0), d: Some(-4.1238028223630807e-7), output: -1.4605737150711201e-5 }, PIDState { time: 10150.82, dt: 0.020000000000436557, error: Some(-2.8250174807453732e-5), p: Some(-1.4125087403726866e-5), i: Some(0.0), d: Some(-1.7320093047467591e-7), output: -1.4298288334201542e-5 }, PIDState { time: 10150.84, dt: 0.020000000000436557, error: Some(-2.8022571484598302e-5), p: Some(-1.4011285742299151e-5), i: Some(0.0), d: Some(6.401563926255079e-8), output: -1.39472701030366e-5 }, PIDState { time: 10150.86, dt: 0.020000000000436557, error: Some(-2.770653379968735e-5), p: Some(-1.3853266899843675e-5), i: Some(0.0), d: Some(2.9775316953098816e-7), output: -1.3555513730312686e-5 }, PIDState { time: 10150.88, dt: 0.019999999998617568, error: Some(-2.730517991267334e-5), p: Some(-1.365258995633667e-5), i: Some(0.0), d: Some(5.265585543112019e-7), output: -1.3126031402025468e-5 }, PIDState { time: 10150.9, dt: 0.020000000000436557, error: Some(-2.6822058401876347e-5), p: Some(-1.3411029200938174e-5), i: Some(0.0), d: Some(7.490691146855629e-7), output: -1.266196008625261e-5 }, PIDState { time: 10150.92, dt: 0.020000000000436557, error: Some(-2.6261082524570156e-5), p: Some(-1.3130541262285078e-5), i: Some(0.0), d: Some(9.6403819416434e-7), output: -1.2166503068120739e-5 }, PIDState { time: 10150.94, dt: 0.020000000000436557, error: Some(-2.562645762793636e-5), p: Some(-1.281322881396818e-5), i: Some(0.0), d: Some(1.1703585643723562e-6), output: -1.1642870249595825e-5 }, PIDState { time: 10150.96, dt: 0.019999999998617568, error: Some(-2.4922603131471988e-5), p: Some(-1.2461301565735994e-5), i: Some(0.0), d: Some(1.3670831923074563e-6), output: -1.1094218373428538e-5 }, PIDState { time: 10150.98, dt: 0.020000000000436557, error: Some(-2.4154070558779495e-5), p: Some(-1.2077035279389747e-5), i: Some(0.0), d: Some(1.5534429659790485e-6), output: -1.0523592313410698e-5 }, PIDState { time: 10151.0, dt: 0.020000000000436557, error: Some(-2.33254590824572e-5), p: Some(-1.16627295412286e-5), i: Some(0.0), d: Some(1.7288610511651218e-6), output: -9.933868490063479e-6 }, PIDState { time: 10151.02, dt: 0.020000000000436557, error: Some(-2.2441330273181848e-5), p: Some(-1.1220665136590924e-5), i: Some(0.0), d: Some(1.89296361999383e-6), output: -9.327701516597093e-6 }, PIDState { time: 10151.04, dt: 0.020000000000436557, error: Some(-2.150612358775561e-5), p: Some(-1.0753061793877805e-5), i: Some(0.0), d: Some(2.0455867527426833e-6), output: -8.707475041135121e-6 }, PIDState { time: 10151.06, dt: 0.019999999998617568, error: Some(-2.0524074187733277e-5), p: Some(-1.0262037093866638e-5), i: Some(0.0), d: Some(2.1867793884791015e-6), output: -8.075257705387537e-6 }, PIDState { time: 10151.08, dt: 0.020000000000436557, error: Some(-1.949913460919106e-5), p: Some(-9.74956730459553e-6), i: Some(0.0), d: Some(2.3168022875715083e-6), output: -7.432765017024022e-6 }, PIDState { time: 10151.1, dt: 0.020000000000436557, error: Some(-1.8434901789987634e-5), p: Some(-9.217450894993817e-6), i: Some(0.0), d: Some(2.4361230355852223e-6), output: -6.7813278594085944e-6 }, PIDState { time: 10151.12, dt: 0.020000000000436557, error: Some(-1.7334550761916034e-5), p: Some(-8.667275380958017e-6), i: Some(0.0), d: Some(2.545407176077192e-6), output: -6.121868204880825e-6 }, PIDState { time: 10151.14, dt: 0.019999999998617568, error: Some(-1.6200776244090775e-5), p: Some(-8.100388122045388e-6), i: Some(0.0), d: Some(2.6455056584443835e-6), output: -5.454882463601004e-6 }, PIDState { time: 10151.16, dt: 0.020000000000436557, error: Some(-1.5035743246016864e-5), p: Some(-7.517871623008432e-6), i: Some(0.0), d: Some(2.7374388395897473e-6), output: -4.780432783418684e-6 }, PIDState { time: 10151.18, dt: 0.020000000000436557, error: Some(-1.3841047547202834e-5), p: Some(-6.920523773601417e-6), i: Some(0.0), d: Some(2.822377347439642e-6), output: -4.098146426161775e-6 }, PIDState { time: 10151.2, dt: 0.020000000000436557, error: Some(-1.2617686763860547e-5), p: Some(-6.308843381930274e-6), i: Some(0.0), d: Some(2.9016201708319308e-6), output: -3.407223211098343e-6 }, PIDState { time: 10151.22, dt: 0.019999999998617568, error: Some(-1.1366042684812783e-5), p: Some(-5.683021342406391e-6), i: Some(0.0), d: Some(2.9765703847175476e-6), output: -2.7064509576888437e-6 }, PIDState { time: 10151.24, dt: 0.020000000000436557, error: Some(-1.0085874961873742e-5), p: Some(-5.042937480936871e-6), i: Some(0.0), d: Some(3.0487089437742127e-6), output: -1.9942285371626582e-6 }, PIDState { time: 10151.26, dt: 0.020000000000436557, error: Some(-8.776326509973842e-6), p: Some(-4.388163254986921e-6), i: Some(0.0), d: Some(3.1195670501069628e-6), output: -1.2685962048799582e-6 }, PIDState { time: 10151.28, dt: 0.020000000000436557, error: Some(-7.435940389655116e-6), p: Some(-3.717970194827558e-6), i: Some(0.0), d: Some(3.190697581063369e-6), output: -5.27272613764189e-7 }, PIDState { time: 10151.3, dt: 0.019999999998617568, error: Some(-6.0626880440395325e-6), p: Some(-3.0313440220197663e-6), i: Some(0.0), d: Some(3.263646082062991e-6), output: 2.3230206004322466e-7 }, PIDState { time: 10151.32, dt: 0.020000000000436557, error: Some(-4.654008236570917e-6), p: Some(-2.3270041182854584e-6), i: Some(0.0), d: Some(3.339921831331212e-6), output: 1.0129177130457536e-6 }, PIDState { time: 10151.34, dt: 0.020000000000436557, error: Some(-3.206856007409442e-6), p: Some(-1.603428003704721e-6), i: Some(0.0), d: Some(3.4209695338726915e-6), output: 1.8175415301679705e-6 }, PIDState { time: 10151.36, dt: 0.020000000000436557, error: Some(-1.7177606679297241e-6), p: Some(-8.588803339648621e-7), i: Some(0.0), d: Some(3.5081421978905107e-6), output: 2.6492618639256486e-6 }, PIDState { time: 10151.38, dt: 0.019999999998617568, error: Some(-1.8289181014097267e-7), p: Some(-9.144590507048633e-8), i: Some(0.0), d: Some(3.602675734776792e-6), output: 3.5112298297063057e-6 }, PIDState { time: 10151.4, dt: 0.020000000000436557, error: Some(1.4018679905802856e-6), p: Some(7.009339952901428e-7), i: Some(0.0), d: Some(3.7056657626621875e-6), output: 4.40659975795233e-6 }, PIDState { time: 10151.42, dt: 0.020000000000436557, error: Some(3.0408450868435466e-6), p: Some(1.5204225434217733e-6), i: Some(0.0), d: Some(3.818047067337192e-6), output: 5.3384696107589655e-6 }, PIDState { time: 10151.44, dt: 0.020000000000436557, error: Some(4.738492847877751e-6), p: Some(2.3692464239388755e-6), i: Some(0.0), d: Some(3.940576104250836e-6), output: 6.309822528189711e-6 }, PIDState { time: 10151.46, dt: 0.019999999998617568, error: Some(6.499307389162823e-6), p: Some(3.2496536945814114e-6), i: Some(0.0), d: Some(4.073816888905743e-6), output: 7.323470583487154e-6 }, PIDState { time: 10151.48, dt: 0.020000000000436557, error: Some(8.327742520464199e-6), p: Some(4.163871260232099e-6), i: Some(0.0), d: Some(4.218130515129586e-6), output: 8.382001775361686e-6 }, PIDState { time: 10151.5, dt: 0.020000000000436557, error: Some(1.022812560336206e-5), p: Some(5.11406280168103e-6), i: Some(0.0), d: Some(4.373668498101056e-6), output: 9.487731299782086e-6 }, PIDState { time: 10151.52, dt: 0.020000000000436557, error: Some(1.2204575781993299e-5), p: Some(6.102287890996649e-6), i: Some(0.0), d: Some(4.540370058750887e-6), output: 1.0642657949747537e-5 }, PIDState { time: 10151.54, dt: 0.020000000000436557, error: Some(1.4260926135989394e-5), p: Some(7.130463067994697e-6), i: Some(0.0), d: Some(4.717963390747723e-6), output: 1.184842645874242e-5 }, PIDState { time: 10151.56, dt: 0.019999999998617568, error: Some(1.6400651318804194e-5), p: Some(8.200325659402097e-6), i: Some(0.0), d: Some(4.905970874195104e-6), output: 1.31062965335972e-5 }, PIDState { time: 10151.58, dt: 0.020000000000436557, error: Some(1.86268017898783e-5), p: Some(9.31340089493915e-6), i: Some(0.0), d: Some(5.103718133715955e-6), output: 1.4417119028655104e-5 }, PIDState { time: 10151.6, dt: 0.020000000000436557, error: Some(1.8554669082959663e-5), p: Some(9.277334541479831e-6), i: Some(0.0), d: Some(4.9077606909801156e-6), output: 1.4185095232459946e-5 }, PIDState { time: 10151.62, dt: 0.020000000000436557, error: Some(1.6176517860344575e-5), p: Some(8.088258930172287e-6), i: Some(0.0), d: Some(3.4526899907685332e-6), output: 1.154094892094082e-5 }, PIDState { time: 10151.64, dt: 0.019999999998617568, error: Some(1.389456835454439e-5), p: Some(6.947284177272195e-6), i: Some(0.0), d: Some(7.213435231481247e-7), output: 7.66862770042032e-6 }, PIDState { time: 10151.66, dt: 0.020000000000436557, error: Some(1.1709823610317471e-5), p: Some(5.854911805158736e-6), i: Some(0.0), d: Some(-2.139920500870201e-6), output: 3.714991304288535e-6 }, PIDState { time: 10151.68, dt: 0.020000000000436557, error: Some(9.622665146480358e-6), p: Some(4.811332573240179e-6), i: Some(0.0), d: Some(-4.217320380907403e-6), output: 5.940121923327763e-7 }, PIDState { time: 10151.7, dt: 0.020000000000436557, error: Some(7.632845310467928e-6), p: Some(3.816422655233964e-6), i: Some(0.0), d: Some(-5.344892587711856e-6), output: -1.5284699324778922e-6 }, PIDState { time: 10151.72, dt: 0.019999999998617568, error: Some(5.739491101053318e-6), p: Some(2.869745550526659e-6), i: Some(0.0), d: Some(-5.710577065115983e-6), output: -2.8408315145893237e-6 }, PIDState { time: 10151.74, dt: 0.020000000000436557, error: Some(3.941119715022978e-6), p: Some(1.970559857511489e-6), i: Some(0.0), d: Some(-5.598115366090784e-6), output: -3.627555508579295e-6 }, PIDState { time: 10151.76, dt: 0.020000000000436557, error: Some(2.2356655620114907e-6), p: Some(1.1178327810057453e-6), i: Some(0.0), d: Some(-5.254646057466446e-6), output: -4.136813276460701e-6 }, PIDState { time: 10151.78, dt: 0.020000000000436557, error: Some(6.205181648510916e-7), p: Some(3.102590824255458e-7), i: Some(0.0), d: Some(-4.845906018055362e-6), output: -4.535646935629816e-6 }, PIDState { time: 10151.8, dt: 0.019999999998617568, error: Some(-9.074296798416981e-7), p: Some(-4.5371483992084904e-7), i: Some(0.0), d: Some(-4.459675899812792e-6), output: -4.913390739733641e-6 }, PIDState { time: 10151.82, dt: 0.020000000000436557, error: Some(-2.351724447180459e-6), p: Some(-1.1758622235902294e-6), i: Some(0.0), d: Some(-4.128204326814821e-6), output: -5.30406655040505e-6 }, PIDState { time: 10151.84, dt: 0.020000000000436557, error: Some(-3.7162861872275244e-6), p: Some(-1.8581430936137622e-6), i: Some(0.0), d: Some(-3.8524097789630005e-6), output: -5.710552872576763e-6 }, PIDState { time: 10151.86, dt: 0.020000000000436557, error: Some(-5.005335864893823e-6), p: Some(-2.5026679324469114e-6), i: Some(0.0), d: Some(-3.6202805967464836e-6), output: -6.122948529193395e-6 }, PIDState { time: 10151.88, dt: 0.019999999998617568, error: Some(-6.223317086551106e-6), p: Some(-3.111658543275553e-6), i: Some(0.0), d: Some(-3.4179105751674528e-6), output: -6.529569118443005e-6 }, PIDState { time: 10151.9, dt: 0.020000000000436557, error: Some(-7.374813662863744e-6), p: Some(-3.687406831431872e-6), i: Some(0.0), d: Some(-3.2345131050704474e-6), output: -6.921919936502319e-6 }, PIDState { time: 10151.92, dt: 0.020000000000436557, error: Some(-8.464464585244968e-6), p: Some(-4.232232292622484e-6), i: Some(0.0), d: Some(-3.063593947303525e-6), output: -7.295826239926009e-6 }, PIDState { time: 10151.94, dt: 0.020000000000436557, error: Some(-9.496878064396697e-6), p: Some(-4.748439032198348e-6), i: Some(0.0), d: Some(-2.9022201050296194e-6), output: -7.650659137227968e-6 }, PIDState { time: 10151.96, dt: 0.019999999998617568, error: Some(-1.0476546137283549e-5), p: Some(-5.2382730686417744e-6), i: Some(0.0), d: Some(-2.749699385987233e-6), output: -7.987972454629007e-6 }, PIDState { time: 10151.98, dt: 0.020000000000436557, error: Some(-1.140776154784362e-5), p: Some(-5.70388077392181e-6), i: Some(0.0), d: Some(-2.606373390660767e-6), output: -8.310254164582577e-6 }, PIDState { time: 10152.0, dt: 0.020000000000436557, error: Some(-1.229453833673233e-5), p: Some(-6.147269168366165e-6), i: Some(0.0), d: Some(-2.472784493354014e-6), output: -8.620053661720179e-6 }, PIDState { time: 10152.02, dt: 0.020000000000436557, error: Some(-1.314053777434765e-5), p: Some(-6.570268887173825e-6), i: Some(0.0), d: Some(-2.3492245036967176e-6), output: -8.919493390870542e-6 }, PIDState { time: 10152.04, dt: 0.020000000000436557, error: Some(-1.3949000845059345e-5), p: Some(-6.9745004225296725e-6), i: Some(0.0), d: Some(-2.2355662046620977e-6), output: -9.21006662719177e-6 }, PIDState { time: 10152.06, dt: 0.019999999998617568, error: Some(-1.4722688632673453e-5), p: Some(-7.3613443163367265e-6), i: Some(0.0), d: Some(-2.1312615576365885e-6), output: -9.492605873973315e-6 }, PIDState { time: 10152.08, dt: 0.020000000000436557, error: Some(-1.5463831687156926e-5), p: Some(-7.731915843578463e-6), i: Some(0.0), d: Some(-2.0354144761029e-6), output: -9.767330319681364e-6 }, PIDState { time: 10152.1, dt: 0.020000000000436557, error: Some(-1.6174089310538875e-5), p: Some(-8.087044655269437e-6), i: Some(0.0), d: Some(-1.946870782882579e-6), output: -1.0033915438152017e-5 }, PIDState { time: 10152.12, dt: 0.020000000000436557, error: Some(-1.6854519515163702e-5), p: Some(-8.427259757581851e-6), i: Some(0.0), d: Some(-1.8642976437170055e-6), output: -1.0291557401298856e-5 }, PIDState { time: 10152.14, dt: 0.019999999998617568, error: Some(-1.750556016588689e-5), p: Some(-8.752780082943445e-6), i: Some(0.0), d: Some(-1.7862443862793792e-6), output: -1.0539024469222825e-5 }, PIDState { time: 10152.16, dt: 0.020000000000436557, error: Some(-1.8127021689906542e-5), p: Some(-9.063510844953271e-6), i: Some(0.0), d: Some(-1.7111867443014097e-6), output: -1.077469758925468e-5 }, PIDState { time: 10152.18, dt: 0.020000000000436557, error: Some(-1.871809153897175e-5), p: Some(-9.359045769485874e-6), i: Some(0.0), d: Some(-1.6375600942333075e-6), output: -1.0996605863719182e-5 }, PIDState { time: 10152.2, dt: 0.020000000000436557, error: Some(-1.9277350276070138e-5), p: Some(-9.638675138035069e-6), i: Some(0.0), d: Some(-1.563787051030304e-6), output: -1.1202462189065373e-5 }, PIDState { time: 10152.22, dt: 0.019999999998617568, error: Some(-1.9802799073431743e-5), p: Some(-9.901399536715871e-6), i: Some(0.0), d: Some(-1.4883031198726673e-6), output: -1.1389702656588539e-5 }, PIDState { time: 10152.24, dt: 0.020000000000436557, error: Some(-2.0291898167101863e-5), p: Some(-1.0145949083550931e-5), i: Some(0.0), d: Some(-1.4095822781980468e-6), output: -1.1555531361748977e-5 }, PIDState { time: 10152.26, dt: 0.020000000000436557, error: Some(-2.0741615358588206e-5), p: Some(-1.0370807679294103e-5), i: Some(0.0), d: Some(-1.326162943194537e-6), output: -1.169697062248864e-5 }, PIDState { time: 10152.28, dt: 0.020000000000436557, error: Some(-2.114848385303958e-5), p: Some(-1.057424192651979e-5), i: Some(0.0), d: Some(-1.2366738994203007e-6), output: -1.181091582594009e-5 }, PIDState { time: 10152.3, dt: 0.019999999998617568, error: Some(-2.1508668183400914e-5), p: Some(-1.0754334091700457e-5), i: Some(0.0), d: Some(-1.139859423947224e-6), output: -1.1894193515647681e-5 }, PIDState { time: 10152.32, dt: 0.020000000000436557, error: Some(-2.181803704104368e-5), p: Some(-1.090901852052184e-5), i: Some(0.0), d: Some(-1.034602765242828e-6), output: -1.1943621285764669e-5 }, PIDState { time: 10152.34, dt: 0.020000000000436557, error: Some(-2.2072241620207933e-5), p: Some(-1.1036120810103967e-5), i: Some(0.0), d: Some(-9.199472323156117e-7), output: -1.1956068042419577e-5 }, PIDState { time: 10152.36, dt: 0.020000000000436557, error: Some(-2.2266797998327093e-5), p: Some(-1.1133398999163546e-5), i: Some(0.0), d: Some(-7.951143095633312e-7), output: -1.1928513308726877e-5 }, PIDState { time: 10152.38, dt: 0.019999999998617568, error: Some(-2.2397171960619744e-5), p: Some(-1.1198585980309872e-5), i: Some(0.0), d: Some(-6.595183614935042e-7), output: -1.1858104341803376e-5 }, PIDState { time: 10152.4, dt: 0.020000000000436557, error: Some(-2.245886481944126e-5), p: Some(-1.122943240972063e-5), i: Some(0.0), d: Some(-5.127776333533033e-7), output: -1.1742210043073933e-5 }, PIDState { time: 10152.42, dt: 0.020000000000436557, error: Some(-2.244749836677329e-5), p: Some(-1.1223749183386644e-5), i: Some(0.0), d: Some(-3.547213573224491e-7), output: -1.1578470540709093e-5 }, PIDState { time: 10152.44, dt: 0.020000000000436557, error: Some(-2.2358897638241615e-5), p: Some(-1.1179448819120807e-5), i: Some(0.0), d: Some(-1.8539283854600503e-7), output: -1.1364841657666813e-5 }, PIDState { time: 10152.46, dt: 0.019999999998617568, error: Some(-2.2189169797570685e-5), p: Some(-1.1094584898785342e-5), i: Some(0.0), d: Some(-5.0485116471478474e-9), output: -1.1099633410432491e-5 }, PIDState { time: 10152.48, dt: 0.020000000000436557, error: Some(-2.1934777706178465e-5), p: Some(-1.0967388853089233e-5), i: Some(0.0), d: Some(1.858469860660267e-7), output: -1.0781541867023207e-5 }, PIDState { time: 10152.5, dt: 0.020000000000436557, error: Some(-2.159260678524788e-5), p: Some(-1.079630339262394e-5), i: Some(0.0), d: Some(3.866296341199234e-7), output: -1.0409673758504017e-5 }, PIDState { time: 10152.52, dt: 0.020000000000436557, error: Some(-2.1160023948141315e-5), p: Some(-1.0580011974070658e-5), i: Some(0.0), d: Some(5.964485714820147e-7), output: -9.983563402588643e-6 }, PIDState { time: 10152.54, dt: 0.020000000000436557, error: Some(-2.0634927594187502e-5), p: Some(-1.0317463797093751e-5), i: Some(0.0), d: Some(8.142821048188589e-7), output: -9.503181692274892e-6 }, PIDState { time: 10152.56, dt: 0.019999999998617568, error: Some(-2.0015787555394127e-5), p: Some(-1.0007893777697063e-5), i: Some(0.0), d: Some(1.0389568744655185e-6), output: -8.968936903231545e-6 }, PIDState { time: 10152.58, dt: 0.020000000000436557, error: Some(-1.930167448449538e-5), p: Some(-9.65083724224769e-6), i: Some(0.0), d: Some(1.2691698285672676e-6), output: -8.381667413680422e-6 }, PIDState { time: 10152.6, dt: 0.020000000000436557, error: Some(-1.849227795958086e-5), p: Some(-9.24613897979043e-6), i: Some(0.0), d: Some(1.5035125872002794e-6), output: -7.742626392590151e-6 }, PIDState { time: 10152.62, dt: 0.020000000000436557, error: Some(-1.7587913092143026e-5), p: Some(-8.793956546071513e-6), i: Some(0.0), d: Some(1.7404977418929375e-6), output: -7.053458804178575e-6 }, PIDState { time: 10152.64, dt: 0.019999999998617568, error: Some(-1.658951545380205e-5), p: Some(-8.294757726901025e-6), i: Some(0.0), d: Some(1.97858661029801e-6), output: -6.316171116603016e-6 }, PIDState { time: 10152.66, dt: 0.020000000000436557, error: Some(-1.5498624392762395e-5), p: Some(-7.749312196381197e-6), i: Some(0.0), d: Some(2.216217937158625e-6), output: -5.533094259222572e-6 }, PIDState { time: 10152.68, dt: 0.020000000000436557, error: Some(-1.431735493895303e-5), p: Some(-7.158677469476515e-6), i: Some(0.0), d: Some(2.4518370551548446e-6), output: -4.706840414321671e-6 }, PIDState { time: 10152.7, dt: 0.020000000000436557, error: Some(-1.3048358923128944e-5), p: Some(-6.524179461564472e-6), i: Some(0.0), d: Some(2.68392498875127e-6), output: -3.840254472813202e-6 }, PIDState { time: 10152.72, dt: 0.019999999998617568, error: Some(-1.1694776034687493e-5), p: Some(-5.8473880173437465e-6), i: Some(0.0), d: Some(2.91102694462402e-6), output: -2.9363610727197266e-6 }, PIDState { time: 10152.74, dt: 0.020000000000436557, error: Some(-1.0260175727694332e-5), p: Some(-5.130087863847166e-6), i: Some(0.0), d: Some(3.1317796136839146e-6), output: -1.9983082501632513e-6 }, PIDState { time: 10152.76, dt: 0.020000000000436557, error: Some(-8.748491055143859e-6), p: Some(-4.374245527571929e-6), i: Some(0.0), d: Some(3.34493676531729e-6), output: -1.0293087622546396e-6 }, PIDState { time: 10152.78, dt: 0.020000000000436557, error: Some(-7.1639457246419624e-6), p: Some(-3.5819728623209812e-6), i: Some(0.0), d: Some(3.5493926333751053e-6), output: -3.2580228945875946e-8 }, PIDState { time: 10152.8, dt: 0.019999999998617568, error: Some(-5.510975711331412e-6), p: Some(-2.755487855665706e-6), i: Some(0.0), d: Some(3.7442026516610483e-6), output: 9.887147959953424e-7 }, PIDState { time: 10152.82, dt: 0.020000000000436557, error: Some(-3.794146962832201e-6), p: Some(-1.8970734814161005e-6), i: Some(0.0), d: Some(3.928601133329832e-6), output: 2.0315276519137313e-6 }, PIDState { time: 10152.84, dt: 0.020000000000436557, error: Some(-2.018070688336593e-6), p: Some(-1.0090353441682964e-6), i: Some(0.0), d: Some(4.102015568124707e-6), output: 3.092980223956411e-6 }, PIDState { time: 10152.86, dt: 0.020000000000436557, error: Some(-1.8731788031800534e-7), p: Some(-9.365894015900267e-8), i: Some(0.0), d: Some(4.264077260901227e-6), output: 4.170418320742224e-6 }, PIDState { time: 10152.88, dt: 0.019999999998617568, error: Some(1.6936653963739445e-6), p: Some(8.468326981869723e-7), i: Some(0.0), d: Some(4.414628133546507e-6), output: 5.261460831733479e-6 }, PIDState { time: 10152.9, dt: 0.020000000000436557, error: Some(3.620640299573097e-6), p: Some(1.8103201497865484e-6), i: Some(0.0), d: Some(4.553723564867496e-6), output: 6.3640437146540445e-6 }, PIDState { time: 10152.92, dt: 0.020000000000436557, error: Some(5.589653611082213e-6), p: Some(2.7948268055411063e-6), i: Some(0.0), d: Some(4.6816312353951046e-6), output: 7.476458040936211e-6 }, PIDState { time: 10152.94, dt: 0.020000000000436557, error: Some(7.597110723622791e-6), p: Some(3.7985553618113954e-6), i: Some(0.0), d: Some(4.798825991388361e-6), output: 8.597381353199757e-6 }, PIDState { time: 10152.96, dt: 0.019999999998617568, error: Some(9.63984194868317e-6), p: Some(4.819920974341585e-6), i: Some(0.0), d: Some(4.905980850940282e-6), output: 9.725901825281867e-6 }, PIDState { time: 10152.98, dt: 0.020000000000436557, error: Some(1.171516078102286e-5), p: Some(5.85758039051143e-6), i: Some(0.0), d: Some(5.003954315003221e-6), output: 1.086153470551465e-5 }, PIDState { time: 10153.0, dt: 0.020000000000436557, error: Some(1.3820913196127549e-5), p: Some(6.9104565980637744e-6), i: Some(0.0), d: Some(5.093774233947565e-6), output: 1.200423083201134e-5 }, PIDState { time: 10153.02, dt: 0.020000000000436557, error: Some(1.5955516957433247e-5), p: Some(7.977758478716623e-6), i: Some(0.0), d: Some(5.1766185292102e-6), output: 1.3154377007926823e-5 }, PIDState { time: 10153.04, dt: 0.020000000000436557, error: Some(1.8117990251198535e-5), p: Some(9.058995125599267e-6), i: Some(0.0), d: Some(5.2537931461759685e-6), output: 1.4312788271775236e-5 }, PIDState { time: 10153.06, dt: 0.019999999998617568, error: Some(2.030796915164501e-5), p: Some(1.0153984575822506e-5), i: Some(0.0), d: Some(5.326707640621971e-6), output: 1.5480692216444478e-5 }, PIDState { time: 10153.08, dt: 0.020000000000436557, error: Some(2.2525713504251144e-5), p: Some(1.1262856752125572e-5), i: Some(0.0), d: Some(5.396848853845865e-6), output: 1.6659705605971436e-5 }, PIDState { time: 10153.1, dt: 0.020000000000436557, error: Some(2.4772101255621237e-5), p: Some(1.2386050627810619e-5), i: Some(0.0), d: Some(5.4657531711595606e-6), output: 1.785180379897018e-5 }, PIDState { time: 10153.12, dt: 0.020000000000436557, error: Some(2.7048611116242682e-5), p: Some(1.3524305558121341e-5), i: Some(0.0), d: Some(5.534977852096357e-6), output: 1.90592834102177e-5 }, PIDState { time: 10153.14, dt: 0.019999999998617568, error: Some(2.9357293982457122e-5), p: Some(1.4678646991228561e-5), i: Some(0.0), d: Some(5.6060719445887144e-6), output: 2.0284718935817276e-5 }, PIDState { time: 10153.16, dt: 0.020000000000436557, error: Some(3.170073354397118e-5), p: Some(1.585036677198559e-5), i: Some(0.0), d: Some(5.680547284488727e-6), output: 2.1530914056474318e-5 }, PIDState { time: 10153.18, dt: 0.020000000000436557, error: Some(3.40819969437689e-5), p: Some(1.704099847188445e-5), i: Some(0.0), d: Some(5.759850144403412e-6), output: 2.2800848616287862e-5 }, PIDState { time: 10153.2, dt: 0.020000000000436557, error: Some(3.650457632886628e-5), p: Some(1.825228816443314e-5), i: Some(0.0), d: Some(5.845334073159088e-6), output: 2.4097622237592228e-5 }, PIDState { time: 10153.22, dt: 0.019999999998617568, error: Some(3.897232245719806e-5), p: Some(1.948616122859903e-5), i: Some(0.0), d: Some(5.938234476778636e-6), output: 2.5424395705377667e-5 }, PIDState { time: 10153.24, dt: 0.020000000000436557, error: Some(3.9104316272187134e-5), p: Some(1.9552158136093567e-5), i: Some(0.0), d: Some(5.637434021097538e-6), output: 2.5189592157191105e-5 }, PIDState { time: 10153.26, dt: 0.020000000000436557, error: Some(3.689663382999697e-5), p: Some(1.8448316914998486e-5), i: Some(0.0), d: Some(4.080539551458478e-6), output: 2.2528856466456965e-5 }, PIDState { time: 10153.28, dt: 0.020000000000436557, error: Some(3.475076273673494e-5), p: Some(1.737538136836747e-5), i: Some(0.0), d: Some(1.252619646660368e-6), output: 1.862800101502784e-5 }, PIDState { time: 10153.3, dt: 0.019999999998617568, error: Some(3.267134322015863e-5), p: Some(1.6335671610079316e-5), i: Some(0.0), d: Some(-1.6994541185091136e-6), output: 1.4636217491570203e-5 }, PIDState { time: 10153.32, dt: 0.020000000000436557, error: Some(3.066296392262302e-5), p: Some(1.533148196131151e-5), i: Some(0.0), d: Some(-3.861430624050149e-6), output: 1.1470051337261362e-5 }, PIDState { time: 10153.34, dt: 0.020000000000436557, error: Some(2.873007527171012e-5), p: Some(1.436503763585506e-5), i: Some(0.0), d: Some(-5.066009783077734e-6), output: 9.299027852777326e-6 }, PIDState { time: 10153.36, dt: 0.020000000000436557, error: Some(2.6876905394601636e-5), p: Some(1.3438452697300818e-5), i: Some(0.0), d: Some(-5.4994679849117195e-6), output: 7.938984712389097e-6 }, PIDState { time: 10153.38, dt: 0.019999999998617568, error: Some(2.5107380267286317e-5), p: Some(1.2553690133643158e-5), i: Some(0.0), d: Some(-5.443926493908227e-6), output: 7.1097636397349315e-6 }, PIDState { time: 10153.4, dt: 0.020000000000436557, error: Some(2.342504951968749e-5), p: Some(1.1712524759843745e-5), i: Some(0.0), d: Some(-5.145152084374955e-6), output: 6.5673726754687905e-6 }, PIDState { time: 10153.42, dt: 0.020000000000436557, error: Some(2.1833019388850516e-5), p: Some(1.0916509694425258e-5), i: Some(0.0), d: Some(-4.767843941955447e-6), output: 6.1486657524698114e-6 }, PIDState { time: 10153.44, dt: 0.020000000000436557, error: Some(2.0333893857582552e-5), p: Some(1.0166946928791276e-5), i: Some(0.0), d: Some(-4.399094816125693e-6), output: 5.7678521126655835e-6 }, PIDState { time: 10153.46, dt: 0.019999999998617568, error: Some(1.8929725257521568e-5), p: Some(9.464862628760784e-6), i: Some(0.0), d: Some(-4.070799136867682e-6), output: 5.394063491893102e-6 }, PIDState { time: 10153.48, dt: 0.020000000000436557, error: Some(1.762197520349673e-5), p: Some(8.810987601748366e-6), i: Some(0.0), d: Some(-3.783829963442759e-6), output: 5.027157638305607e-6 }, PIDState { time: 10153.5, dt: 0.020000000000436557, error: Some(1.6411486470246928e-5), p: Some(8.205743235123464e-6), i: Some(0.0), d: Some(-3.526415740772201e-6), output: 4.679327494351262e-6 }, PIDState { time: 10153.52, dt: 0.020000000000436557, error: Some(1.529846647940758e-5), p: Some(7.64923323970379e-6), i: Some(0.0), d: Some(-3.2851568909031332e-6), output: 4.364076348800657e-6 }, PIDState { time: 10153.54, dt: 0.020000000000436557, error: Some(1.4282482581506883e-5), p: Some(7.141241290753442e-6), i: Some(0.0), d: Some(-3.0500238652105238e-6), output: 4.0912174255429175e-6 }, PIDState { time: 10153.56, dt: 0.019999999998617568, error: Some(1.3362469303501712e-5), p: Some(6.681234651750856e-6), i: Some(0.0), d: Some(-2.815514196334249e-6), output: 3.865720455416607e-6 }, PIDState { time: 10153.62, dt: 0.010000000000218279, error: None, p: None, i: None, d: None, output: 0.0 }, PIDState { time: 10153.64, dt: 0.010000000000218279, error: Some(1.0888363974004278e-5), p: Some(5.444181987002139e-6), i: Some(0.0), d: Some(-0.0), output: 5.444181987002139e-6 }, PIDState { time: 10153.66, dt: 0.020000000000436557, error: Some(1.006809318937485e-5), p: Some(5.034046594687425e-6), i: Some(0.0), d: Some(-1.3832897609793566e-7), output: 4.895717618589489e-6 }, PIDState { time: 10153.68, dt: 0.020000000000436557, error: Some(9.326633659156869e-6), p: Some(4.663316829578434e-6), i: Some(0.0), d: Some(-5.598036640306816e-7), output: 4.1035131655477525e-6 }, PIDState { time: 10153.68, dt: 0.01, error: Some(8.6561143319841e-6), p: Some(4.32805716599205e-6), i: Some(0.0), d: Some(-2.1684463351067494e-6), output: 2.1596108308853004e-6 }, PIDState { time: 10153.7, dt: 0.020000000000436557, error: Some(8.048562506246526e-6), p: Some(4.024281253123263e-6), i: Some(0.0), d: Some(-1.4618032442970422e-6), output: 2.562478008826221e-6 }, PIDState { time: 10153.72, dt: 0.019999999998617568, error: Some(7.496072939261467e-6), p: Some(3.7480364696307333e-6), i: Some(0.0), d: Some(-1.6344024245167253e-6), output: 2.1136340451140082e-6 }, PIDState { time: 10153.74, dt: 0.020000000000436557, error: Some(6.990970547349207e-6), p: Some(3.4954852736746034e-6), i: Some(0.0), d: Some(-1.6386330517981428e-6), output: 1.8568522218764605e-6 }, PIDState { time: 10153.76, dt: 0.020000000000436557, error: Some(6.525962604086999e-6), p: Some(3.2629813020434995e-6), i: Some(0.0), d: Some(-1.540189730334121e-6), output: 1.7227915717093785e-6 }, PIDState { time: 10153.78, dt: 0.020000000000436557, error: Some(6.0856960715227615e-6), p: Some(3.0428480357613807e-6), i: Some(0.0), d: Some(-1.4002379796853566e-6), output: 1.6426100560760242e-6 }, PIDState { time: 10153.8, dt: 0.019999999998617568, error: Some(5.6675215631685205e-6), p: Some(2.8337607815842603e-6), i: Some(0.0), d: Some(-1.262081710862342e-6), output: 1.5716790707219184e-6 }, PIDState { time: 10153.82, dt: 0.020000000000436557, error: Some(5.270655620392972e-6), p: Some(2.635327810196486e-6), i: Some(0.0), d: Some(-1.1467271932474273e-6), output: 1.4886006169490588e-6 }, PIDState { time: 10153.84, dt: 0.020000000000436557, error: Some(4.8950270894465575e-6), p: Some(2.4475135447232788e-6), i: Some(0.0), d: Some(-1.0574164843945633e-6), output: 1.3900970603287155e-6 }, PIDState { time: 10153.86, dt: 0.020000000000436557, error: Some(4.540781446848996e-6), p: Some(2.270390723424498e-6), i: Some(0.0), d: Some(-9.88592328228044e-7), output: 1.281798395196454e-6 }, PIDState { time: 10153.88, dt: 0.019999999998617568, error: Some(4.2085348894715935e-6), p: Some(2.1042674447357967e-6), i: Some(0.0), d: Some(-9.32291995725908e-7), output: 1.1719754490098888e-6 }, PIDState { time: 10153.9, dt: 0.020000000000436557, error: Some(3.897982452372162e-6), p: Some(1.948991226186081e-6), i: Some(0.0), d: Some(-8.816683347289428e-7), output: 1.0673228914571382e-6 }, PIDState { time: 10153.92, dt: 0.020000000000436557, error: Some(3.608541121025155e-6), p: Some(1.8042705605125775e-6), i: Some(0.0), d: Some(-8.324604061303565e-7), output: 9.71810154382221e-7 }, PIDState { time: 10153.94, dt: 0.020000000000436557, error: Some(3.3395939027514032e-6), p: Some(1.6697969513757016e-6), i: Some(0.0), d: Some(-7.828794071059699e-7), output: 8.869175442697318e-7 }, PIDState { time: 10153.96, dt: 0.019999999998617568, error: Some(3.090551913942363e-6), p: Some(1.5452759569711816e-6), i: Some(0.0), d: Some(-7.326933031887407e-7), output: 8.125826537824409e-7 }, PIDState { time: 10153.98, dt: 0.020000000000436557, error: Some(2.861287313749017e-6), p: Some(1.4306436568745085e-6), i: Some(0.0), d: Some(-6.822938039351541e-7), output: 7.483498529393543e-7 }, PIDState { time: 10154.0, dt: 0.020000000000436557, error: Some(2.6514063051763515e-6), p: Some(1.3257031525881757e-6), i: Some(0.0), d: Some(-6.321090216566024e-7), output: 6.935941309315733e-7 }, PIDState { time: 10154.02, dt: 0.020000000000436557, error: Some(2.4605118653653335e-6), p: Some(1.2302559326826668e-6), i: Some(0.0), d: Some(-5.824790769824963e-7), output: 6.477768557001704e-7 }, PIDState { time: 10154.04, dt: 0.020000000000436557, error: Some(2.288275766204606e-6), p: Some(1.144137883102303e-6), i: Some(0.0), d: Some(-5.336503328211614e-7), output: 6.104875502811416e-7 }, PIDState { time: 10154.06, dt: 0.019999999998617568, error: Some(2.1344271772250067e-6), p: Some(1.0672135886125034e-6), i: Some(0.0), d: Some(-4.857316365775984e-7), output: 5.81481952034905e-7 }, PIDState { time: 10154.08, dt: 0.020000000000436557, error: Some(2.0008298804441438e-6), p: Some(1.0004149402220719e-6), i: Some(0.0), d: Some(-4.3835476206359457e-7), output: 5.620601781584774e-7 }, PIDState { time: 10154.1, dt: 0.020000000000436557, error: Some(1.8876806535672586e-6), p: Some(9.438403267836293e-7), i: Some(0.0), d: Some(-3.9060538864228785e-7), output: 5.532349381413414e-7 }, PIDState { time: 10154.12, dt: 0.020000000000436557, error: Some(1.7947363630810287e-6), p: Some(8.973681815405143e-7), i: Some(0.0), d: Some(-3.4186691957806443e-7), output: 5.555012619624499e-7 }, PIDState { time: 10154.14, dt: 0.019999999998617568, error: Some(1.7217289212112519e-6), p: Some(8.608644606056259e-7), i: Some(0.0), d: Some(-2.9224573045712357e-7), output: 5.686187301485024e-7 }, PIDState { time: 10154.16, dt: 0.020000000000436557, error: Some(1.6683741819178977e-6), p: Some(8.341870909589488e-7), i: Some(0.0), d: Some(-2.4220324883857116e-7), output: 5.919838421203776e-7 }, PIDState { time: 10154.18, dt: 0.020000000000436557, error: Some(1.640039727135445e-6), p: Some(8.200198635677225e-7), i: Some(0.0), d: Some(-1.912794927643759e-7), output: 6.287403708033466e-7 }, PIDState { time: 10154.2, dt: 0.020000000000436557, error: Some(1.6368284008194678e-6), p: Some(8.184142004097339e-7), i: Some(0.0), d: Some(-1.377425832408369e-7), output: 6.806716171688971e-7 }, PIDState { time: 10154.22, dt: 0.019999999998617568, error: Some(1.6574051215911823e-6), p: Some(8.287025607955911e-7), i: Some(0.0), d: Some(-8.086796138698529e-8), output: 7.478345994086058e-7 }, PIDState { time: 10154.24, dt: 0.020000000000436557, error: Some(1.7002822119138727e-6), p: Some(8.501411059569364e-7), i: Some(0.0), d: Some(-2.194094053494487e-8), output: 8.282001654219915e-7 }, PIDState { time: 10154.26, dt: 0.020000000000436557, error: Some(1.7638996610003232e-6), p: Some(8.819498305001616e-7), i: Some(0.0), d: Some(3.6964137778369035e-8), output: 9.189139682785306e-7 }, PIDState { time: 10154.28, dt: 0.020000000000436557, error: Some(1.857115805137255e-6), p: Some(9.285579025686275e-7), i: Some(0.0), d: Some(9.57137223630255e-8), output: 1.0242716249316529e-6 }, PIDState { time: 10154.3, dt: 0.019999999998617568, error: Some(1.9784882709927842e-6), p: Some(9.892441354963921e-7), i: Some(0.0), d: Some(1.5677602946820657e-7), output: 1.1460201649645986e-6 }, PIDState { time: 10154.32, dt: 0.020000000000436557, error: Some(2.1239837479924972e-6), p: Some(1.0619918739962486e-6), i: Some(0.0), d: Some(2.2087312647359518e-7), output: 1.2828650004698438e-6 }, PIDState { time: 10154.34, dt: 0.020000000000436557, error: Some(2.289571114033606e-6), p: Some(1.144785557016803e-6), i: Some(0.0), d: Some(2.852008529830151e-7), output: 1.4299864099998182e-6 }, PIDState { time: 10154.36, dt: 0.020000000000436557, error: Some(2.4714444180062856e-6), p: Some(1.2357222090031428e-6), i: Some(0.0), d: Some(3.4585781728253496e-7), output: 1.5815800262856777e-6 }, PIDState { time: 10154.38, dt: 0.019999999998617568, error: Some(2.6806571753468234e-6), p: Some(1.3403285876734117e-6), i: Some(0.0), d: Some(4.0212455405286963e-7), output: 1.7424531417262812e-6 }, PIDState { time: 10154.4, dt: 0.020000000000436557, error: Some(2.9136400740981117e-6), p: Some(1.4568200370490558e-6), i: Some(0.0), d: Some(4.573729813276063e-7), output: 1.914193018376662e-6 }, PIDState { time: 10154.42, dt: 0.020000000000436557, error: Some(3.1635619279768434e-6), p: Some(1.5817809639884217e-6), i: Some(0.0), d: Some(5.127779951240118e-7), output: 2.0945589591124336e-6 }, PIDState { time: 10154.44, dt: 0.020000000000436557, error: Some(3.4241286073211086e-6), p: Some(1.7120643036605543e-6), i: Some(0.0), d: Some(5.64814993378486e-7), output: 2.2768792970390405e-6 }, PIDState { time: 10154.46, dt: 0.019999999998617568, error: Some(3.689901276970886e-6), p: Some(1.844950638485443e-6), i: Some(0.0), d: Some(6.087457210965515e-7), output: 2.4536963595819946e-6 }, PIDState { time: 10154.48, dt: 0.020000000000436557, error: Some(3.972304298827112e-6), p: Some(1.986152149413556e-6), i: Some(0.0), d: Some(6.438322241425316e-7), output: 2.6299843735560875e-6 }, PIDState { time: 10154.5, dt: 0.020000000000436557, error: Some(4.266533238705961e-6), p: Some(2.1332666193529803e-6), i: Some(0.0), d: Some(6.742819934224067e-7), output: 2.807548612775387e-6 }, PIDState { time: 10154.52, dt: 0.020000000000436557, error: Some(4.564749303881399e-6), p: Some(2.2823746519406996e-6), i: Some(0.0), d: Some(7.020672181398392e-7), output: 2.9844418700805387e-6 }, PIDState { time: 10154.54, dt: 0.020000000000436557, error: Some(4.860368946424387e-6), p: Some(2.4301844732121936e-6), i: Some(0.0), d: Some(7.241566833231607e-7), output: 3.1543411565353543e-6 }, PIDState { time: 10154.56, dt: 0.019999999998617568, error: Some(5.148340108007687e-6), p: Some(2.5741700540038437e-6), i: Some(0.0), d: Some(7.364415698677575e-7), output: 3.310611623871601e-6 }, PIDState { time: 10154.58, dt: 0.020000000000436557, error: Some(5.4387094223784516e-6), p: Some(2.7193547111892258e-6), i: Some(0.0), d: Some(7.387513012353041e-7), output: 3.4581060124245297e-6 }, PIDState { time: 10154.6, dt: 0.020000000000436557, error: Some(5.727538209043814e-6), p: Some(2.863769104521907e-6), i: Some(0.0), d: Some(7.355792809855453e-7), output: 3.5993483855074524e-6 }, PIDState { time: 10154.62, dt: 0.020000000000436557, error: Some(6.0087637621109025e-6), p: Some(3.0043818810554512e-6), i: Some(0.0), d: Some(7.296029038883167e-7), output: 3.733984784943768e-6 }, PIDState { time: 10154.64, dt: 0.019999999998617568, error: Some(6.277911950292037e-6), p: Some(3.1389559751460183e-6), i: Some(0.0), d: Some(7.192205487737457e-7), output: 3.858176523919764e-6 }, PIDState { time: 10154.66, dt: 0.020000000000436557, error: Some(6.5321927422701265e-6), p: Some(3.2660963711350632e-6), i: Some(0.0), d: Some(7.019579611834292e-7), output: 3.968054332318492e-6 }, PIDState { time: 10154.68, dt: 0.020000000000436557, error: Some(6.7788684674496835e-6), p: Some(3.3894342337248418e-6), i: Some(0.0), d: Some(6.781793820648884e-7), output: 4.06761361578973e-6 }, PIDState { time: 10154.7, dt: 0.020000000000436557, error: Some(7.016153375616341e-6), p: Some(3.5080766878081704e-6), i: Some(0.0), d: Some(6.514710831114438e-7), output: 4.159547770919614e-6 }, PIDState { time: 10154.72, dt: 0.019999999998617568, error: Some(7.24123887607675e-6), p: Some(3.620619438038375e-6), i: Some(0.0), d: Some(6.24252762371048e-7), output: 4.244872200409423e-6 }, PIDState { time: 10154.74, dt: 0.020000000000436557, error: Some(7.452649981587456e-6), p: Some(3.726324990793728e-6), i: Some(0.0), d: Some(5.961637334056528e-7), output: 4.32248872419938e-6 }, PIDState { time: 10154.76, dt: 0.020000000000436557, error: Some(7.650168996065076e-6), p: Some(3.825084498032538e-6), i: Some(0.0), d: Some(5.662822140834912e-7), output: 4.3913667121160295e-6 }, PIDState { time: 10154.78, dt: 0.020000000000436557, error: Some(7.838170702711977e-6), p: Some(3.919085351355989e-6), i: Some(0.0), d: Some(5.351269354494654e-7), output: 4.454212286805454e-6 }, PIDState { time: 10154.8, dt: 0.019999999998617568, error: Some(8.017199874643666e-6), p: Some(4.008599937321833e-6), i: Some(0.0), d: Some(5.047863863827752e-7), output: 4.513386323704608e-6 }, PIDState { time: 10154.82, dt: 0.020000000000436557, error: Some(8.187595838649031e-6), p: Some(4.0937979193245155e-6), i: Some(0.0), d: Some(4.76881585111682e-7), output: 4.570679504436198e-6 }, PIDState { time: 10154.84, dt: 0.020000000000436557, error: Some(8.350434427484288e-6), p: Some(4.175217213742144e-6), i: Some(0.0), d: Some(4.518122175222206e-7), output: 4.6270294312643645e-6 }, PIDState { time: 10154.86, dt: 0.020000000000436557, error: Some(8.507373550514785e-6), p: Some(4.253686775257393e-6), i: Some(0.0), d: Some(4.2967787791979445e-7), output: 4.683364653177187e-6 }, PIDState { time: 10154.88, dt: 0.019999999998617568, error: Some(8.662628971478625e-6), p: Some(4.331314485739313e-6), i: Some(0.0), d: Some(4.111792854609023e-7), output: 4.742493771200215e-6 }, PIDState { time: 10154.9, dt: 0.020000000000436557, error: Some(8.818641532570837e-6), p: Some(4.409320766285418e-6), i: Some(0.0), d: Some(3.977377802489448e-7), output: 4.807058546534363e-6 }, PIDState { time: 10154.92, dt: 0.020000000000436557, error: Some(8.977568413115478e-6), p: Some(4.488784206557739e-6), i: Some(0.0), d: Some(3.904735450103038e-7), output: 4.879257751568043e-6 }, PIDState { time: 10154.94, dt: 0.020000000000436557, error: Some(9.141649002231134e-6), p: Some(4.570824501115567e-6), i: Some(0.0), d: Some(3.8969906646266173e-7), output: 4.9605235675782286e-6 }, PIDState { time: 10154.96, dt: 0.019999999998617568, error: Some(9.313093087826019e-6), p: Some(4.656546543913009e-6), i: Some(0.0), d: Some(3.952839968720446e-7), output: 5.051830540785054e-6 }, PIDState { time: 10154.98, dt: 0.020000000000436557, error: Some(9.5007552260995e-6), p: Some(4.75037761304975e-6), i: Some(0.0), d: Some(4.0807479772339325e-7), output: 5.1584524107731435e-6 }, PIDState { time: 10155.0, dt: 0.020000000000436557, error: Some(9.707860215257824e-6), p: Some(4.853930107628912e-6), i: Some(0.0), d: Some(4.303795052512532e-7), output: 5.284309612880166e-6 }, PIDState { time: 10155.02, dt: 0.020000000000436557, error: Some(9.935893913848304e-6), p: Some(4.967946956924152e-6), i: Some(0.0), d: Some(4.634152647117544e-7), output: 5.431362221635906e-6 }, PIDState { time: 10155.04, dt: 0.020000000000436557, error: Some(1.0185927862949029e-5), p: Some(5.0929639314745145e-6), i: Some(0.0), d: Some(5.060147232718302e-7), output: 5.598978654746344e-6 }, PIDState { time: 10155.06, dt: 0.019999999998617568, error: Some(1.0458677209612688e-5), p: Some(5.229338604806344e-6), i: Some(0.0), d: Some(5.558480871718467e-7), output: 5.78518669197819e-6 }, PIDState { time: 10155.08, dt: 0.020000000000436557, error: Some(1.0771690412525459e-5), p: Some(5.385845206262729e-6), i: Some(0.0), d: Some(6.133829985629882e-7), output: 5.999228204825718e-6 }, PIDState { time: 10155.1, dt: 0.020000000000436557, error: Some(1.1126770701253008e-5), p: Some(5.563385350626504e-6), i: Some(0.0), d: Some(6.830778359743193e-7), output: 6.246463186600824e-6 }, PIDState { time: 10155.12, dt: 0.020000000000436557, error: Some(1.1521305765427314e-5), p: Some(5.760652882713657e-6), i: Some(0.0), d: Some(7.666190121876234e-7), output: 6.52727189490128e-6 }, PIDState { time: 10155.14, dt: 0.019999999998617568, error: Some(1.1952191414366098e-5), p: Some(5.976095707183049e-6), i: Some(0.0), d: Some(8.59866184610485e-7), output: 6.835961891793534e-6 }, PIDState { time: 10155.16, dt: 0.020000000000436557, error: Some(1.2416182329388903e-5), p: Some(6.2080911646944514e-6), i: Some(0.0), d: Some(9.56456540334711e-7), output: 7.164547705029162e-6 }, PIDState { time: 10155.18, dt: 0.020000000000436557, error: Some(1.2940123653493174e-5), p: Some(6.470061826746587e-6), i: Some(0.0), d: Some(1.0557705007313683e-6), output: 7.525832327477955e-6 }, PIDState { time: 10155.2, dt: 0.020000000000436557, error: Some(1.3521902218371906e-5), p: Some(6.760951109185953e-6), i: Some(0.0), d: Some(1.1649680034505742e-6), output: 7.925919112636527e-6 }, PIDState { time: 10155.22, dt: 0.019999999998617568, error: Some(1.4152152004953678e-5), p: Some(7.076076002476839e-6), i: Some(0.0), d: Some(1.2865728201231797e-6), output: 8.362648822600019e-6 }, PIDState { time: 10155.24, dt: 0.020000000000436557, error: Some(1.4821662446706796e-5), p: Some(7.410831223353398e-6), i: Some(0.0), d: Some(1.4132104613041098e-6), output: 8.824041684657508e-6 }, PIDState { time: 10155.26, dt: 0.020000000000436557, error: Some(1.552204726351647e-5), p: Some(7.761023631758235e-6), i: Some(0.0), d: Some(1.5343785422258907e-6), output: 9.295402173984126e-6 }, PIDState { time: 10155.28, dt: 0.020000000000436557, error: Some(1.628623013516517e-5), p: Some(8.143115067582585e-6), i: Some(0.0), d: Some(1.6483879064461135e-6), output: 9.791502974028699e-6 }, PIDState { time: 10155.3, dt: 0.019999999998617568, error: Some(1.7107270437577426e-5), p: Some(8.553635218788713e-6), i: Some(0.0), d: Some(1.7649925183635002e-6), output: 1.0318627737152213e-5 }, PIDState { time: 10155.32, dt: 0.020000000000436557, error: Some(1.796929494446431e-5), p: Some(8.984647472232155e-6), i: Some(0.0), d: Some(1.8880530260241792e-6), output: 1.0872700498256333e-5 }, PIDState { time: 10155.34, dt: 0.020000000000436557, error: Some(1.8857869292787655e-5), p: Some(9.428934646393827e-6), i: Some(0.0), d: Some(2.0084628716835374e-6), output: 1.1437397518077365e-5 }, PIDState { time: 10155.36, dt: 0.020000000000436557, error: Some(1.97608271861327e-5), p: Some(9.88041359306635e-6), i: Some(0.0), d: Some(2.1135811541907823e-6), output: 1.1993994747257132e-5 }, PIDState { time: 10155.38, dt: 0.019999999998617568, error: Some(2.0711372997084254e-5), p: Some(1.0355686498542127e-5), i: Some(0.0), d: Some(2.2013776119912683e-6), output: 1.2557064110533395e-5 }, PIDState { time: 10155.4, dt: 0.020000000000436557, error: Some(2.1699219360016286e-5), p: Some(1.0849609680008143e-5), i: Some(0.0), d: Some(2.283100448388844e-6), output: 1.3132710128396987e-5 }, PIDState { time: 10155.42, dt: 0.020000000000436557, error: Some(2.2705516585119767e-5), p: Some(1.1352758292559884e-5), i: Some(0.0), d: Some(2.3639827939206175e-6), output: 1.3716741086480501e-5 }, PIDState { time: 10155.44, dt: 0.020000000000436557, error: Some(2.37142725012518e-5), p: Some(1.18571362506259e-5), i: Some(0.0), d: Some(2.435622386687639e-6), output: 1.4292758637313537e-5 }, PIDState { time: 10155.46, dt: 0.019999999998617568, error: Some(2.471307051621352e-5), p: Some(1.235653525810676e-5), i: Some(0.0), d: Some(2.4863781790728946e-6), output: 1.4842913437179654e-5 }, PIDState { time: 10155.48, dt: 0.020000000000436557, error: Some(2.5729313989586444e-5), p: Some(1.2864656994793222e-5), i: Some(0.0), d: Some(2.5148161561703673e-6), output: 1.537947315096359e-5 }, PIDState { time: 10155.5, dt: 0.020000000000436557, error: Some(2.6752894854098486e-5), p: Some(1.3376447427049243e-5), i: Some(0.0), d: Some(2.5318101604884137e-6), output: 1.5908257587537655e-5 }, PIDState { time: 10155.52, dt: 0.020000000000436557, error: Some(2.7767443910420297e-5), p: Some(1.3883721955210149e-5), i: Some(0.0), d: Some(2.543388324942884e-6), output: 1.642711028015303e-5 }, PIDState { time: 10155.54, dt: 0.020000000000436557, error: Some(2.876022796272082e-5), p: Some(1.438011398136041e-5), i: Some(0.0), d: Some(2.544127527106862e-6), output: 1.6924241508467273e-5 }, PIDState { time: 10155.56, dt: 0.019999999998617568, error: Some(2.9722506283746952e-5), p: Some(1.4861253141873476e-5), i: Some(0.0), d: Some(2.5261845757869797e-6), output: 1.7387437717660455e-5 }, PIDState { time: 10155.58, dt: 0.020000000000436557, error: Some(3.067227547148832e-5), p: Some(1.533613773574416e-5), i: Some(0.0), d: Some(2.4893021973539855e-6), output: 1.7825439933098146e-5 }, PIDState { time: 10155.6, dt: 0.020000000000436557, error: Some(3.160309944405526e-5), p: Some(1.580154972202763e-5), i: Some(0.0), d: Some(2.441994884353767e-6), output: 1.8243544606381396e-5 }, PIDState { time: 10155.62, dt: 0.020000000000436557, error: Some(3.250547712241314e-5), p: Some(1.625273856120657e-5), i: Some(0.0), d: Some(2.3898522302916478e-6), output: 1.8642590791498217e-5 }, PIDState { time: 10155.64, dt: 0.019999999998617568, error: Some(3.3373266049352424e-5), p: Some(1.6686633024676212e-5), i: Some(0.0), d: Some(2.331160594186256e-6), output: 1.9017793618862468e-5 }, PIDState { time: 10155.66, dt: 0.020000000000436557, error: Some(3.420361875328126e-5), p: Some(1.710180937664063e-5), i: Some(0.0), d: Some(2.2628254923166217e-6), output: 1.9364634868957254e-5 }, PIDState { time: 10155.68, dt: 0.020000000000436557, error: Some(3.500634383613033e-5), p: Some(1.7503171918065163e-5), i: Some(0.0), d: Some(2.185829395249231e-6), output: 1.9689001313314394e-5 }, PIDState { time: 10155.7, dt: 0.020000000000436557, error: Some(3.578075360621824e-5), p: Some(1.789037680310912e-5), i: Some(0.0), d: Some(2.10562683333086e-6), output: 1.999600363643998e-5 }, PIDState { time: 10155.72, dt: 0.019999999998617568, error: Some(3.652563934508635e-5), p: Some(1.8262819672543174e-5), i: Some(0.0), d: Some(2.02655294412024e-6), output: 2.0289372616663414e-5 }, PIDState { time: 10155.74, dt: 0.020000000000436557, error: Some(3.7241951915234495e-5), p: Some(1.8620975957617247e-5), i: Some(0.0), d: Some(1.9497294475194463e-6), output: 2.0570705405136695e-5 }, PIDState { time: 10155.76, dt: 0.020000000000436557, error: Some(3.793245994643257e-5), p: Some(1.8966229973216286e-5), i: Some(0.0), d: Some(1.8755959526426236e-6), output: 2.084182592585891e-5 }, PIDState { time: 10155.78, dt: 0.020000000000436557, error: Some(3.860565064428556e-5), p: Some(1.930282532214278e-5), i: Some(0.0), d: Some(1.806133523329139e-6), output: 2.110895884547192e-5 }, PIDState { time: 10155.8, dt: 0.019999999998617568, error: Some(3.926642031615302e-5), p: Some(1.963321015807651e-5), i: Some(0.0), d: Some(1.745054729081512e-6), output: 2.137826488715802e-5 }, PIDState { time: 10155.82, dt: 0.020000000000436557, error: Some(3.9919445782743423e-5), p: Some(1.9959722891371712e-5), i: Some(0.0), d: Some(1.6955014086973643e-6), output: 2.1655224300069077e-5 }, PIDState { time: 10155.84, dt: 0.020000000000436557, error: Some(4.0569932380662976e-5), p: Some(2.0284966190331488e-5), i: Some(0.0), d: Some(1.6589416068658337e-6), output: 2.194390779719732e-5 }, PIDState { time: 10155.86, dt: 0.020000000000436557, error: Some(4.122328483902038e-5), p: Some(2.061164241951019e-5), i: Some(0.0), d: Some(1.6359311803498031e-6), output: 2.224757359985999e-5 }, PIDState { time: 10155.88, dt: 0.019999999998617568, error: Some(4.189657502706723e-5), p: Some(2.0948287513533614e-5), i: Some(0.0), d: Some(1.628623355599258e-6), output: 2.257691086913287e-5 }, PIDState { time: 10155.9, dt: 0.020000000000436557, error: Some(4.25973612721009e-5), p: Some(2.129868063605045e-5), i: Some(0.0), d: Some(1.6416140986382526e-6), output: 2.2940294734688702e-5 }, PIDState { time: 10155.92, dt: 0.020000000000436557, error: Some(4.3330206310088215e-5), p: Some(2.1665103155044108e-5), i: Some(0.0), d: Some(1.6775213160760143e-6), output: 2.3342624471120123e-5 }, PIDState { time: 10155.94, dt: 0.020000000000436557, error: Some(4.409884166989286e-5), p: Some(2.204942083494643e-5), i: Some(0.0), d: Some(1.7346851392946792e-6), output: 2.378410597424111e-5 }, PIDState { time: 10155.96, dt: 0.019999999998617568, error: Some(4.490619706132293e-5), p: Some(2.2453098530661464e-5), i: Some(0.0), d: Some(1.8092069604044271e-6), output: 2.426230549106589e-5 }, PIDState { time: 10155.98, dt: 0.020000000000436557, error: Some(4.578584082537418e-5), p: Some(2.289292041268709e-5), i: Some(0.0), d: Some(1.9020721775441184e-6), output: 2.479499259023121e-5 }, PIDState { time: 10156.0, dt: 0.020000000000436557, error: Some(4.674286510919501e-5), p: Some(2.3371432554597504e-5), i: Some(0.0), d: Some(2.021412729610158e-6), output: 2.5392845284207663e-5 }, PIDState { time: 10156.02, dt: 0.020000000000436557, error: Some(4.777413873569003e-5), p: Some(2.3887069367845015e-5), i: Some(0.0), d: Some(2.1702922187466394e-6), output: 2.6057361586591653e-5 }, PIDState { time: 10156.04, dt: 0.020000000000436557, error: Some(4.887535922648567e-5), p: Some(2.4437679613242835e-5), i: Some(0.0), d: Some(2.3410821727865036e-6), output: 2.6778761786029338e-5 }, PIDState { time: 10156.06, dt: 0.019999999998617568, error: Some(5.004170247957518e-5), p: Some(2.502085123978759e-5), i: Some(0.0), d: Some(2.5219289527010023e-6), output: 2.754278019248859e-5 }, PIDState { time: 10156.08, dt: 0.020000000000436557, error: Some(5.132470873547845e-5), p: Some(2.5662354367739226e-5), i: Some(0.0), d: Some(2.7115648477075098e-6), output: 2.8373919215446735e-5 }, PIDState { time: 10156.1, dt: 0.020000000000436557, error: Some(5.2721853734283286e-5), p: Some(2.6360926867141643e-5), i: Some(0.0), d: Some(2.9232391477421576e-6), output: 2.92841660148838e-5 }, PIDState { time: 10156.12, dt: 0.020000000000436557, error: Some(5.4216786125493854e-5), p: Some(2.7108393062746927e-5), i: Some(0.0), d: Some(3.161557571140914e-6), output: 3.0269950633887843e-5 }, PIDState { time: 10156.14, dt: 0.019999999998617568, error: Some(5.5793117738289766e-5), p: Some(2.7896558869144883e-5), i: Some(0.0), d: Some(3.4125279375240482e-6), output: 3.130908680666893e-5 }, PIDState { time: 10156.16, dt: 0.020000000000436557, error: Some(5.743569241190016e-5), p: Some(2.871784620595008e-5), i: Some(0.0), d: Some(3.6561197781164602e-6), output: 3.2373965984066544e-5 }, PIDState { time: 10156.18, dt: 0.020000000000436557, error: Some(5.920314549712202e-5), p: Some(2.960157274856101e-5), i: Some(0.0), d: Some(3.8880680393189256e-6), output: 3.3489640787879935e-5 }, PIDState { time: 10156.2, dt: 0.020000000000436557, error: Some(6.108297363027759e-5), p: Some(3.0541486815138796e-5), i: Some(0.0), d: Some(4.1248656491702506e-6), output: 3.4666352464309044e-5 }, PIDState { time: 10156.22, dt: 0.019999999998617568, error: Some(6.304647622812354e-5), p: Some(3.152323811406177e-5), i: Some(0.0), d: Some(4.372843514436035e-6), output: 3.58960816284978e-5 }, PIDState { time: 10156.24, dt: 0.020000000000436557, error: Some(6.506719033438912e-5), p: Some(3.253359516719456e-5), i: Some(0.0), d: Some(4.615347135553639e-6), output: 3.7148942302748204e-5 }, PIDState { time: 10156.26, dt: 0.020000000000436557, error: Some(6.712239388662056e-5), p: Some(3.356119694331028e-5), i: Some(0.0), d: Some(4.829381425073147e-6), output: 3.839057836838342e-5 }, PIDState { time: 10156.28, dt: 0.020000000000436557, error: Some(6.926494394576821e-5), p: Some(3.4632471972884105e-5), i: Some(0.0), d: Some(5.009923038775399e-6), output: 3.96423950116595e-5 }, PIDState { time: 10156.3, dt: 0.019999999998617568, error: Some(7.147569053245206e-5), p: Some(3.573784526622603e-5), i: Some(0.0), d: Some(5.174701575747047e-6), output: 4.0912546841973075e-5 }, PIDState { time: 10156.32, dt: 0.020000000000436557, error: Some(7.372115425141601e-5), p: Some(3.6860577125708005e-5), i: Some(0.0), d: Some(5.332098030824921e-6), output: 4.219267515653293e-5 }, PIDState { time: 10156.34, dt: 0.020000000000436557, error: Some(7.597242098711376e-5), p: Some(3.798621049355688e-5), i: Some(0.0), d: Some(5.468166684634644e-6), output: 4.3454377178191526e-5 }, PIDState { time: 10156.36, dt: 0.020000000000436557, error: Some(7.820636314193052e-5), p: Some(3.910318157096526e-5), i: Some(0.0), d: Some(5.563607263272251e-6), output: 4.466678883423751e-5 }, PIDState { time: 10156.38, dt: 0.019999999998617568, error: Some(8.046208390055654e-5), p: Some(4.023104195027827e-5), i: Some(0.0), d: Some(5.615332769251834e-6), output: 4.58463747195301e-5 }, PIDState { time: 10156.4, dt: 0.020000000000436557, error: Some(8.272088189187343e-5), p: Some(4.1360440945936716e-5), i: Some(0.0), d: Some(5.63999875107961e-6), output: 4.700043969701632e-5 }, PIDState { time: 10156.42, dt: 0.020000000000436557, error: Some(8.4954529157244e-5), p: Some(4.2477264578622e-5), i: Some(0.0), d: Some(5.64730832596266e-6), output: 4.8124572904584655e-5 }, PIDState { time: 10156.44, dt: 0.020000000000436557, error: Some(8.714057740633052e-5), p: Some(4.357028870316526e-5), i: Some(0.0), d: Some(5.629490052306391e-6), output: 4.919977875547165e-5 }, PIDState { time: 10156.46, dt: 0.019999999998617568, error: Some(8.926294424327352e-5), p: Some(4.463147212163676e-5), i: Some(0.0), d: Some(5.575072195328997e-6), output: 5.020654431696576e-5 }, PIDState { time: 10156.48, dt: 0.020000000000436557, error: Some(9.134538903765588e-5), p: Some(4.567269451882794e-5), i: Some(0.0), d: Some(5.48399142859115e-6), output: 5.115668594741909e-5 }, PIDState { time: 10156.5, dt: 0.020000000000436557, error: Some(9.337650716645385e-5), p: Some(4.6688253583226924e-5), i: Some(0.0), d: Some(5.369492152136044e-6), output: 5.205774573536297e-5 }, PIDState { time: 10156.52, dt: 0.020000000000436557, error: Some(9.53408141839418e-5), p: Some(4.76704070919709e-5), i: Some(0.0), d: Some(5.240909440707088e-6), output: 5.291131653267799e-5 }, PIDState { time: 10156.54, dt: 0.020000000000436557, error: Some(9.72281016515808e-5), p: Some(4.86140508257904e-5), i: Some(0.0), d: Some(5.097029511034611e-6), output: 5.371108033682501e-5 }, PIDState { time: 10156.56, dt: 0.019999999998617568, error: Some(9.903334677119346e-5), p: Some(4.951667338559673e-5), i: Some(0.0), d: Some(4.934577454605938e-6), output: 5.445125084020267e-5 }, PIDState { time: 10156.58, dt: 0.020000000000436557, error: Some(0.00010076985802243144), p: Some(5.038492901121572e-5), i: Some(0.0), d: Some(4.756041248303139e-6), output: 5.514097025951886e-5 }, PIDState { time: 10156.6, dt: 0.020000000000436557, error: Some(0.00010243670627119172), p: Some(5.121835313559586e-5), i: Some(0.0), d: Some(4.570272690203596e-6), output: 5.5788625825799456e-5 }, PIDState { time: 10156.62, dt: 0.020000000000436557, error: Some(0.00010403257429913992), p: Some(5.201628714956996e-5), i: Some(0.0), d: Some(4.384586066465479e-6), output: 5.640087321603544e-5 }, PIDState { time: 10156.64, dt: 0.019999999998617568, error: Some(0.00010555947110901798), p: Some(5.277973555450899e-5), i: Some(0.0), d: Some(4.201716459521481e-6), output: 5.698145201403047e-5 }, PIDState { time: 10156.66, dt: 0.020000000000436557, error: Some(0.00010702222965619512), p: Some(5.351111482809756e-5), i: Some(0.0), d: Some(4.0233033006745785e-6), output: 5.753441812877214e-5 }, PIDState { time: 10156.68, dt: 0.020000000000436557, error: Some(0.00010843244336911084), p: Some(5.421622168455542e-5), i: Some(0.0), d: Some(3.852744838435012e-6), output: 5.8068966522990433e-5 }, PIDState { time: 10156.7, dt: 0.020000000000436557, error: Some(0.00010979787251130801), p: Some(5.489893625565401e-5), i: Some(0.0), d: Some(3.6953583986529212e-6), output: 5.859429465430693e-5 }, PIDState { time: 10156.72, dt: 0.019999999998617568, error: Some(0.00011112635748133926), p: Some(5.556317874066963e-5), i: Some(0.0), d: Some(3.5556795317075203e-6), output: 5.9118858272377145e-5 }, PIDState { time: 10156.74, dt: 0.020000000000436557, error: Some(0.00011242658261778615), p: Some(5.6213291308893076e-5), i: Some(0.0), d: Some(3.4362202113342294e-6), output: 5.96495115202273e-5 }, PIDState { time: 10156.76, dt: 0.020000000000436557, error: Some(0.0001137075862374104), p: Some(5.68537931187052e-5), i: Some(0.0), d: Some(3.33833714339256e-6), output: 6.0192130262097755e-5 }, PIDState { time: 10156.78, dt: 0.020000000000436557, error: Some(0.00011498764678208317), p: Some(5.749382339104159e-5), i: Some(0.0), d: Some(3.264364014537499e-6), output: 6.075818740557909e-5 }, PIDState { time: 10156.8, dt: 0.019999999998617568, error: Some(0.00011627744829922904), p: Some(5.813872414961452e-5), i: Some(0.0), d: Some(3.2183035990248754e-6), output: 6.13570277486394e-5 }, PIDState { time: 10156.82, dt: 0.020000000000436557, error: Some(0.00011758504662395808), p: Some(5.879252331197904e-5), i: Some(0.0), d: Some(3.2023212500426172e-6), output: 6.199484456202165e-5 }, PIDState { time: 10156.84, dt: 0.020000000000436557, error: Some(0.00011891742532554872), p: Some(5.945871266277436e-5), i: Some(0.0), d: Some(3.214891610694169e-6), output: 6.267360427346853e-5 }, PIDState { time: 10156.86, dt: 0.020000000000436557, error: Some(0.0001202804123607848), p: Some(6.01402061803924e-5), i: Some(0.0), d: Some(3.252377617598212e-6), output: 6.339258379799061e-5 }, PIDState { time: 10156.88, dt: 0.019999999998617568, error: Some(0.00012170322189319904), p: Some(6.085161094659952e-5), i: Some(0.0), d: Some(3.314625070690022e-6), output: 6.416623601728954e-5 }, PIDState { time: 10156.9, dt: 0.020000000000436557, error: Some(0.00012319247890957286), p: Some(6.159623945478643e-5), i: Some(0.0), d: Some(3.406842443260759e-6), output: 6.500308189804718e-5 }, PIDState { time: 10156.92, dt: 0.020000000000436557, error: Some(0.00012474780184845713), p: Some(6.237390092422856e-5), i: Some(0.0), d: Some(3.5301900151814696e-6), output: 6.590409093941004e-5 }, PIDState { time: 10156.94, dt: 0.020000000000436557, error: Some(0.00012636722205172646), p: Some(6.318361102586323e-5), i: Some(0.0), d: Some(3.6774037099019393e-6), output: 6.686101473576516e-5 }, PIDState { time: 10156.96, dt: 0.019999999998617568, error: Some(0.00012804770041441316), p: Some(6.402385020720658e-5), i: Some(0.0), d: Some(3.837804485246267e-6), output: 6.786165469245284e-5 }, PIDState { time: 10156.98, dt: 0.020000000000436557, error: Some(0.00012982799202632123), p: Some(6.491399601316061e-5), i: Some(0.0), d: Some(4.008604440670667e-6), output: 6.892260045383128e-5 }, PIDState { time: 10157.0, dt: 0.020000000000436557, error: Some(0.00013170586397848183), p: Some(6.585293198924091e-5), i: Some(0.0), d: Some(4.198028922630545e-6), output: 7.005096091187146e-5 }, PIDState { time: 10157.02, dt: 0.020000000000436557, error: Some(0.00013366822581417637), p: Some(6.683411290708818e-5), i: Some(0.0), d: Some(4.4080230061511494e-6), output: 7.124213591323933e-5 }, PIDState { time: 10157.04, dt: 0.020000000000436557, error: Some(0.00013570146212771306), p: Some(6.785073106385653e-5), i: Some(0.0), d: Some(4.626751776295575e-6), output: 7.24774828401521e-5 }, PIDState { time: 10157.06, dt: 0.019999999998617568, error: Some(0.00013779244858369566), p: Some(6.889622429184783e-5), i: Some(0.0), d: Some(4.837959989435186e-6), output: 7.373418428128302e-5 }, PIDState { time: 10157.08, dt: 0.020000000000436557, error: Some(0.0001399836886690764), p: Some(6.99918443345382e-5), i: Some(0.0), d: Some(5.037411763959972e-6), output: 7.502925609849818e-5 }, PIDState { time: 10157.1, dt: 0.020000000000436557, error: Some(0.00014226370909398156), p: Some(7.113185454699078e-5), i: Some(0.0), d: Some(5.236717980840138e-6), output: 7.636857252783091e-5 }, PIDState { time: 10157.12, dt: 0.020000000000436557, error: Some(0.00014460863584986328), p: Some(7.230431792493164e-5), i: Some(0.0), d: Some(5.439982875818688e-6), output: 7.774430080075032e-5 }, PIDState { time: 10157.14, dt: 0.019999999998617568, error: Some(0.0001469961273841136), p: Some(7.34980636920568e-5), i: Some(0.0), d: Some(5.6340779372222656e-6), output: 7.913214162927907e-5 }, PIDState { time: 10157.16, dt: 0.020000000000436557, error: Some(0.00014940656284068154), p: Some(7.470328142034077e-5), i: Some(0.0), d: Some(5.801187734620475e-6), output: 8.050446915496125e-5 }, PIDState { time: 10157.18, dt: 0.020000000000436557, error: Some(0.00015187895367319015), p: Some(7.593947683659508e-5), i: Some(0.0), d: Some(5.93743275600647e-6), output: 8.187690959260154e-5 }, PIDState { time: 10157.2, dt: 0.020000000000436557, error: Some(0.00015439654994509056), p: Some(7.719827497254528e-5), i: Some(0.0), d: Some(6.056563636296626e-6), output: 8.32548386088419e-5 }, PIDState { time: 10157.22, dt: 0.019999999998617568, error: Some(0.00015693155775409195), p: Some(7.846577887704598e-5), i: Some(0.0), d: Some(6.165116766337628e-6), output: 8.46308956433836e-5 }, PIDState { time: 10157.24, dt: 0.020000000000436557, error: Some(0.00015945974624287373), p: Some(7.972987312143687e-5), i: Some(0.0), d: Some(6.252359323971549e-6), output: 8.598223244540841e-5 }, PIDState { time: 10157.26, dt: 0.020000000000436557, error: Some(0.00016196141849889045), p: Some(8.098070924944523e-5), i: Some(0.0), d: Some(6.303429566737002e-6), output: 8.728413881618222e-5 }, PIDState { time: 10157.28, dt: 0.020000000000436557, error: Some(0.00016446661263103124), p: Some(8.223330631551562e-5), i: Some(0.0), d: Some(6.3162886173284875e-6), output: 8.854959493284411e-5 }, PIDState { time: 10157.3, dt: 0.019999999998617568, error: Some(0.00016695943433830962), p: Some(8.347971716915481e-5), i: Some(0.0), d: Some(6.304534117144667e-6), output: 8.978425128629947e-5 }, PIDState { time: 10157.32, dt: 0.020000000000436557, error: Some(0.00016941646984491854), p: Some(8.470823492245927e-5), i: Some(0.0), d: Some(6.276176791093265e-6), output: 9.098441171355253e-5 }, PIDState { time: 10157.34, dt: 0.020000000000436557, error: Some(0.000171818936067325), p: Some(8.59094680336625e-5), i: Some(0.0), d: Some(6.225258429528664e-6), output: 9.213472646319117e-5 }, PIDState { time: 10157.36, dt: 0.020000000000436557, error: Some(0.00017415316388280644), p: Some(8.707658194140322e-5), i: Some(0.0), d: Some(6.1428182332646294e-6), output: 9.321940017466785e-5 }, PIDState { time: 10157.38, dt: 0.019999999998617568, error: Some(0.00017643868298478083), p: Some(8.821934149239041e-5), i: Some(0.0), d: Some(6.029178061684879e-6), output: 9.42485195540753e-5 }, PIDState { time: 10157.4, dt: 0.020000000000436557, error: Some(0.00017866581900705114), p: Some(8.933290950352557e-5), i: Some(0.0), d: Some(5.895539489150782e-6), output: 9.522844899267635e-5 }, PIDState { time: 10157.42, dt: 0.020000000000436557, error: Some(0.00018082143618869395), p: Some(9.041071809434698e-5), i: Some(0.0), d: Some(5.749737862004552e-6), output: 9.616045595635153e-5 }, PIDState { time: 10157.44, dt: 0.020000000000436557, error: Some(0.00018289669310433965), p: Some(9.144834655216982e-5), i: Some(0.0), d: Some(5.590736620146678e-6), output: 9.70390831723165e-5 }, PIDState { time: 10157.46, dt: 0.019999999998617568, error: Some(0.00018488700190744112), p: Some(9.244350095372056e-5), i: Some(0.0), d: Some(5.415698524293071e-6), output: 9.785919947801363e-5 }, PIDState { time: 10157.48, dt: 0.020000000000436557, error: Some(0.00018680412657090528), p: Some(9.340206328545264e-5), i: Some(0.0), d: Some(5.226724918383887e-6), output: 9.862878820383653e-5 }, PIDState { time: 10157.5, dt: 0.020000000000436557, error: Some(0.00018864684363961715), p: Some(9.432342181980857e-5), i: Some(0.0), d: Some(5.031431039677008e-6), output: 9.935485285948559e-5 }, PIDState { time: 10157.52, dt: 0.020000000000436557, error: Some(0.00019041333240465974), p: Some(9.520666620232987e-5), i: Some(0.0), d: Some(4.835929983733318e-6), output: 0.00010004259618606319 }, PIDState { time: 10157.54, dt: 0.020000000000436557, error: Some(0.00019210455924678627), p: Some(9.605227962339313e-5), i: Some(0.0), d: Some(4.642143712514968e-6), output: 0.0001006944233359081 }, PIDState { time: 10157.56, dt: 0.019999999998617568, error: Some(0.00019372390624994296), p: Some(9.686195312497148e-5), i: Some(0.0), d: Some(4.450992175145533e-6), output: 0.00010131294530011701 }, PIDState { time: 10157.58, dt: 0.020000000000436557, error: Some(0.00019528085816489238), p: Some(9.764042908244619e-5), i: Some(0.0), d: Some(4.265047376889051e-6), output: 0.00010190547645933524 }, PIDState { time: 10157.6, dt: 0.020000000000436557, error: Some(0.000196781020065373), p: Some(9.83905100326865e-5), i: Some(0.0), d: Some(4.088680719334367e-6), output: 0.00010247919075202087 }, PIDState { time: 10157.62, dt: 0.020000000000436557, error: Some(0.0001982300110370261), p: Some(9.911500551851304e-5), i: Some(0.0), d: Some(3.925549881303188e-6), output: 0.00010304055539981623 }, PIDState { time: 10157.64, dt: 0.019999999998617568, error: Some(0.0001996342948871188), p: Some(9.98171474435594e-5), i: Some(0.0), d: Some(3.7775239146337157e-6), output: 0.00010359467135819312 }, PIDState { time: 10157.66, dt: 0.020000000000436557, error: Some(0.00020100079623830425), p: Some(0.00010050039811915212), i: Some(0.0), d: Some(3.645594190537043e-6), output: 0.00010414599230968917 }, PIDState { time: 10157.68, dt: 0.020000000000436557, error: Some(0.0002023423718782169), p: Some(0.00010117118593910845), i: Some(0.0), d: Some(3.5314205457389135e-6), output: 0.00010470260648484737 }, PIDState { time: 10157.7, dt: 0.020000000000436557, error: Some(0.0002036670401395213), p: Some(0.00010183352006976065), i: Some(0.0), d: Some(3.4377534415619398e-6), output: 0.00010527127351132259 }, PIDState { time: 10157.72, dt: 0.019999999998617568, error: Some(0.00020498120743184245), p: Some(0.00010249060371592122), i: Some(0.0), d: Some(3.366148080774862e-6), output: 0.00010585675179669609 }, PIDState { time: 10157.74, dt: 0.020000000000436557, error: Some(0.000206290618294247), p: Some(0.0001031453091471235), i: Some(0.0), d: Some(3.3157754051171367e-6), output: 0.00010646108455224064 }, PIDState { time: 10157.76, dt: 0.020000000000436557, error: Some(0.00020760025194022091), p: Some(0.00010380012597011046), i: Some(0.0), d: Some(3.284421700876894e-6), output: 0.00010708454767098736 }, PIDState { time: 10157.78, dt: 0.020000000000436557, error: Some(0.0002089297369138876), p: Some(0.0001044648684569438), i: Some(0.0), d: Some(3.2719996649263464e-6), output: 0.00010773686812187015 }, PIDState { time: 10157.8, dt: 0.019999999998617568, error: Some(0.00021028451122617753), p: Some(0.00010514225561308876), i: Some(0.0), d: Some(3.2817420812557327e-6), output: 0.0001084239976943445 }, PIDState { time: 10157.82, dt: 0.020000000000436557, error: Some(0.00021166553332818694), p: Some(0.00010583276666409347), i: Some(0.0), d: Some(3.314308876614104e-6), output: 0.00010914707554070758 }, PIDState { time: 10157.84, dt: 0.020000000000436557, error: Some(0.00021307264677261628), p: Some(0.00010653632338630814), i: Some(0.0), d: Some(3.3650279081763044e-6), output: 0.00010990135129448445 }, PIDState { time: 10157.86, dt: 0.020000000000436557, error: Some(0.00021450489808216844), p: Some(0.00010725244904108422), i: Some(0.0), d: Some(3.427020723865949e-6), output: 0.00011067946976495017 }, PIDState { time: 10157.88, dt: 0.019999999998617568, error: Some(0.00021598861303573358), p: Some(0.00010799430651786679), i: Some(0.0), d: Some(3.4984975465441816e-6), output: 0.00011149280406441097 }, PIDState { time: 10157.9, dt: 0.020000000000436557, error: Some(0.00021752338426495044), p: Some(0.00010876169213247522), i: Some(0.0), d: Some(3.5848101397770566e-6), output: 0.00011234650227225227 }, PIDState { time: 10157.92, dt: 0.020000000000436557, error: Some(0.00021910166152849797), p: Some(0.00010955083076424899), i: Some(0.0), d: Some(3.6871935942805656e-6), output: 0.00011323802435852955 }, PIDState { time: 10157.94, dt: 0.020000000000436557, error: Some(0.0002207154669662259), p: Some(0.00011035773348311295), i: Some(0.0), d: Some(3.797860911759329e-6), output: 0.00011415559439487228 }, PIDState { time: 10157.96, dt: 0.019999999998617568, error: Some(0.0002223570672299502), p: Some(0.0001111785336149751), i: Some(0.0), d: Some(3.906094305878328e-6), output: 0.00011508462792085343 }, PIDState { time: 10157.98, dt: 0.020000000000436557, error: Some(0.0002240562677542357), p: Some(0.00011202813387711785), i: Some(0.0), d: Some(4.00919886698826e-6), output: 0.00011603733274410611 }, PIDState { time: 10158.0, dt: 0.020000000000436557, error: Some(0.00022580653113379867), p: Some(0.00011290326556689934), i: Some(0.0), d: Some(4.115092075534789e-6), output: 0.00011701835764243412 }, PIDState { time: 10158.02, dt: 0.020000000000436557, error: Some(0.00022759291688601024), p: Some(0.00011379645844300512), i: Some(0.0), d: Some(4.226591729683735e-6), output: 0.00011802305017268886 }, PIDState { time: 10158.04, dt: 0.020000000000436557, error: Some(0.00022940143587391049), p: Some(0.00011470071793695524), i: Some(0.0), d: Some(4.334847653311843e-6), output: 0.00011903556559026709 }, PIDState { time: 10158.06, dt: 0.019999999998617568, error: Some(0.0002312198528358067), p: Some(0.00011560992641790335), i: Some(0.0), d: Some(4.427780633381338e-6), output: 0.00012003770705128468 }, PIDState { time: 10158.08, dt: 0.020000000000436557, error: Some(0.00023307664767457936), p: Some(0.00011653832383728968), i: Some(0.0), d: Some(4.502855835416112e-6), output: 0.0001210411796727058 }, PIDState { time: 10158.1, dt: 0.020000000000436557, error: Some(0.00023496155611724134), p: Some(0.00011748077805862067), i: Some(0.0), d: Some(4.5696565999766e-6), output: 0.00012205043465859727 }, PIDState { time: 10158.12, dt: 0.020000000000436557, error: Some(0.000236856528260887), p: Some(0.0001184282641304435), i: Some(0.0), d: Some(4.63266856188727e-6), output: 0.00012306093269233076 }, PIDState { time: 10158.14, dt: 0.019999999998617568, error: Some(0.0002387458291650546), p: Some(0.0001193729145825273), i: Some(0.0), d: Some(4.6842934319653725e-6), output: 0.00012405720801449268 }, PIDState { time: 10158.16, dt: 0.020000000000436557, error: Some(0.00024061671251729422), p: Some(0.00012030835625864711), i: Some(0.0), d: Some(4.713966659101888e-6), output: 0.000125022322917749 }, PIDState { time: 10158.18, dt: 0.020000000000436557, error: Some(0.00024249204081172593), p: Some(0.00012124602040586296), i: Some(0.0), d: Some(4.720153145362992e-6), output: 0.00012596617355122597 }, PIDState { time: 10158.2, dt: 0.020000000000436557, error: Some(0.0002443615509690744), p: Some(0.0001221807754845372), i: Some(0.0), d: Some(4.712387134144817e-6), output: 0.00012689316261868202 }, PIDState { time: 10158.22, dt: 0.019999999998617568, error: Some(0.0002462093342927574), p: Some(0.0001231046671463787), i: Some(0.0), d: Some(4.696080236792948e-6), output: 0.00012780074738317164 }, PIDState { time: 10158.24, dt: 0.020000000000436557, error: Some(0.0002480225339382969), p: Some(0.00012401126696914844), i: Some(0.0), d: Some(4.6665063556319836e-6), output: 0.0001286777733247804 }, PIDState { time: 10158.26, dt: 0.020000000000436557, error: Some(0.00024979170694905406), p: Some(0.00012489585347452703), i: Some(0.0), d: Some(4.616682697067837e-6), output: 0.00012951253617159486 }, PIDState { time: 10158.28, dt: 0.020000000000436557, error: Some(0.0002515321645120139), p: Some(0.00012576608225600694), i: Some(0.0), d: Some(4.546419578761741e-6), output: 0.00013031250183476867 }, PIDState { time: 10158.3, dt: 0.019999999998617568, error: Some(0.00025323697065005035), p: Some(0.00012661848532502518), i: Some(0.0), d: Some(4.46355568544388e-6), output: 0.00013108204101046906 }, PIDState { time: 10158.32, dt: 0.020000000000436557, error: Some(0.00025489622436225545), p: Some(0.00012744811218112773), i: Some(0.0), d: Some(4.373299815115909e-6), output: 0.00013182141199624364 }, PIDState { time: 10158.34, dt: 0.020000000000436557, error: Some(0.00025650290464795944), p: Some(0.00012825145232397972), i: Some(0.0), d: Some(4.2741036277141115e-6), output: 0.00013252555595169384 }, PIDState { time: 10158.36, dt: 0.020000000000436557, error: Some(0.0002580528857407671), p: Some(0.00012902644287038356), i: Some(0.0), d: Some(4.1630067851429065e-6), output: 0.00013318944965552647 }, PIDState { time: 10158.38, dt: 0.019999999998617568, error: Some(0.0002595550184452122), p: Some(0.0001297775092226061), i: Some(0.0), d: Some(4.040915354747374e-6), output: 0.00013381842457735348 }, PIDState { time: 10158.4, dt: 0.020000000000436557, error: Some(0.0002610072352382531), p: Some(0.00013050361761912654), i: Some(0.0), d: Some(3.913110675284059e-6), output: 0.00013441672829441061 }, PIDState { time: 10158.42, dt: 0.020000000000436557, error: Some(0.0002624065963203748), p: Some(0.0001312032981601874), i: Some(0.0), d: Some(3.783613942804785e-6), output: 0.00013498691210299217 }, PIDState { time: 10158.44, dt: 0.020000000000436557, error: Some(0.00026375210639173474), p: Some(0.00013187605319586737), i: Some(0.0), d: Some(3.6530336305424363e-6), output: 0.00013552908682640981 }, PIDState { time: 10158.46, dt: 0.019999999998617568, error: Some(0.00026504450006825664), p: Some(0.00013252225003412832), i: Some(0.0), d: Some(3.521205721100899e-6), output: 0.0001360434557552292 }, PIDState { time: 10158.48, dt: 0.020000000000436557, error: Some(0.00026628959493280036), p: Some(0.00013314479746640018), i: Some(0.0), d: Some(3.389460124514005e-6), output: 0.00013653425759091418 }, PIDState { time: 10158.5, dt: 0.020000000000436557, error: Some(0.0002674895033720759), p: Some(0.00013374475168603794), i: Some(0.0), d: Some(3.260765867790879e-6), output: 0.00013700551755382883 }, PIDState { time: 10158.52, dt: 0.020000000000436557, error: Some(0.00026864620856770216), p: Some(0.00013432310428385108), i: Some(0.0), d: Some(3.1375532184118013e-6), output: 0.00013746065750226287 }, PIDState { time: 10158.54, dt: 0.020000000000436557, error: Some(0.00026976241369425225), p: Some(0.00013488120684712612), i: Some(0.0), d: Some(3.0208273093192008e-6), output: 0.00013790203415644533 }, PIDState { time: 10158.56, dt: 0.019999999998617568, error: Some(0.00027084130060472944), p: Some(0.00013542065030236472), i: Some(0.0), d: Some(2.911035540860748e-6), output: 0.00013833168584322547 }, PIDState { time: 10158.58, dt: 0.020000000000436557, error: Some(0.0002718898325184682), p: Some(0.0001359449162592341), i: Some(0.0), d: Some(2.8091949093105585e-6), output: 0.00013875411116854466 }, PIDState { time: 10158.6, dt: 0.020000000000436557, error: Some(0.0002729119902369348), p: Some(0.0001364559951184674), i: Some(0.0), d: Some(2.7171362752478556e-6), output: 0.00013917313139371525 }, PIDState { time: 10158.62, dt: 0.020000000000436557, error: Some(0.0002739109156379982), p: Some(0.0001369554578189991), i: Some(0.0), d: Some(2.636022766560421e-6), output: 0.00013959148058555952 }, PIDState { time: 10158.64, dt: 0.019999999998617568, error: Some(0.00027488951816678764), p: Some(0.00013744475908339382), i: Some(0.0), d: Some(2.5656029387609993e-6), output: 0.00014001036202215483 }, PIDState { time: 10158.66, dt: 0.020000000000436557, error: Some(0.00027585039774180586), p: Some(0.00013792519887090293), i: Some(0.0), d: Some(2.504837186944726e-6), output: 0.00014043003605784766 }, PIDState { time: 10158.68, dt: 0.020000000000436557, error: Some(0.0002768066701577254), p: Some(0.0001384033350788627), i: Some(0.0), d: Some(2.454270846473493e-6), output: 0.0001408576059253362 }, PIDState { time: 10158.7, dt: 0.020000000000436557, error: Some(0.0002777618153828598), p: Some(0.0001388809076914299), i: Some(0.0), d: Some(2.416825964539129e-6), output: 0.00014129773365596904 }, PIDState { time: 10158.72, dt: 0.019999999998617568, error: Some(0.00027871644149968233), p: Some(0.00013935822074984117), i: Some(0.0), d: Some(2.3936564016961626e-6), output: 0.00014175187715153732 }, PIDState { time: 10158.74, dt: 0.020000000000436557, error: Some(0.0002796706166918739), p: Some(0.00013983530834593694), i: Some(0.0), d: Some(2.3821901362649447e-6), output: 0.00014221749848220187 }, PIDState { time: 10158.76, dt: 0.020000000000436557, error: Some(0.00028062407731965777), p: Some(0.00014031203865982889), i: Some(0.0), d: Some(2.3782887207971964e-6), output: 0.00014269032738062608 }, PIDState { time: 10158.78, dt: 0.020000000000436557, error: Some(0.00028158979489489866), p: Some(0.00014079489744744933), i: Some(0.0), d: Some(2.3803127121585775e-6), output: 0.00014317521015960792 }, PIDState { time: 10158.8, dt: 0.019999999998617568, error: Some(0.00028256793164871397), p: Some(0.00014128396582435698), i: Some(0.0), d: Some(2.3903444292038765e-6), output: 0.00014367431025356085 }, PIDState { time: 10158.82, dt: 0.020000000000436557, error: Some(0.00028355523156164963), p: Some(0.00014177761578082482), i: Some(0.0), d: Some(2.408775922209929e-6), output: 0.00014418639170303476 }, PIDState { time: 10158.84, dt: 0.020000000000436557, error: Some(0.0002845482495388296), p: Some(0.0001422741247694148), i: Some(0.0), d: Some(2.4318507996042855e-6), output: 0.0001447059755690191 }, PIDState { time: 10158.86, dt: 0.020000000000436557, error: Some(0.0002855436878519413), p: Some(0.00014277184392597064), i: Some(0.0), d: Some(2.454498372233407e-6), output: 0.00014522634229820406 }, PIDState { time: 10158.88, dt: 0.019999999998617568, error: Some(0.00028656207442168125), p: Some(0.00014328103721084062), i: Some(0.0), d: Some(2.4765093185697093e-6), output: 0.00014575754652941034 }, PIDState { time: 10158.9, dt: 0.020000000000436557, error: Some(0.00028760109120185007), p: Some(0.00014380054560092503), i: Some(0.0), d: Some(2.50394555339312e-6), output: 0.00014630449115431816 }, PIDState { time: 10158.92, dt: 0.020000000000436557, error: Some(0.00028865313342407717), p: Some(0.00014432656671203858), i: Some(0.0), d: Some(2.539243103104891e-6), output: 0.00014686580981514348 }, PIDState { time: 10158.94, dt: 0.020000000000436557, error: Some(0.00028971118874210333), p: Some(0.00014485559437105167), i: Some(0.0), d: Some(2.577148045143984e-6), output: 0.00014743274241619565 }, PIDState { time: 10158.96, dt: 0.019999999998617568, error: Some(0.00029076933445537634), p: Some(0.00014538466722768817), i: Some(0.0), d: Some(2.610141676266461e-6), output: 0.00014799480890395462 }, PIDState { time: 10158.98, dt: 0.020000000000436557, error: Some(0.0002918483217371204), p: Some(0.0001459241608685602), i: Some(0.0), d: Some(2.636764742203659e-6), output: 0.00014856092561076384 }, PIDState { time: 10159.0, dt: 0.020000000000436557, error: Some(0.0002929435532195157), p: Some(0.00014647177660975785), i: Some(0.0), d: Some(2.6633585693503673e-6), output: 0.00014913513517910822 }, PIDState { time: 10159.02, dt: 0.020000000000436557, error: Some(0.00029404523215248446), p: Some(0.00014702261607624223), i: Some(0.0), d: Some(2.6928455066583856e-6), output: 0.00014971546158290062 }, PIDState { time: 10159.04, dt: 0.020000000000436557, error: Some(0.00029514493418503207), p: Some(0.00014757246709251604), i: Some(0.0), d: Some(2.7201511110686012e-6), output: 0.00015029261820358463 }, PIDState { time: 10159.06, dt: 0.019999999998617568, error: Some(0.00029623603640516194), p: Some(0.00014811801820258097), i: Some(0.0), d: Some(2.7381588977338005e-6), output: 0.00015085617710031477 }, PIDState { time: 10159.08, dt: 0.020000000000436557, error: Some(0.00029733597395420475), p: Some(0.00014866798697710237), i: Some(0.0), d: Some(2.7457257285356047e-6), output: 0.00015141371270563798 }, PIDState { time: 10159.1, dt: 0.020000000000436557, error: Some(0.00029843952670205454), p: Some(0.00014921976335102727), i: Some(0.0), d: Some(2.7490801773496608e-6), output: 0.00015196884352837694 }, PIDState { time: 10159.12, dt: 0.020000000000436557, error: Some(0.0002995373782681554), p: Some(0.0001497686891340777), i: Some(0.0), d: Some(2.7515385050073832e-6), output: 0.00015252022763908508 }, PIDState { time: 10159.14, dt: 0.019999999998617568, error: Some(0.0003006220006653848), p: Some(0.0001503110003326924), i: Some(0.0), d: Some(2.7494194476664983e-6), output: 0.0001530604197803589 }, PIDState { time: 10159.16, dt: 0.020000000000436557, error: Some(0.0003016879055479649), p: Some(0.00015084395277398244), i: Some(0.0), d: Some(2.737402793639024e-6), output: 0.00015358135556762145 }, PIDState { time: 10159.18, dt: 0.020000000000436557, error: Some(0.00030274696618448615), p: Some(0.00015137348309224308), i: Some(0.0), d: Some(2.7148446233848854e-6), output: 0.00015408832771562797 }, PIDState { time: 10159.2, dt: 0.020000000000436557, error: Some(0.00030379493709631333), p: Some(0.00015189746854815667), i: Some(0.0), d: Some(2.6866865272979057e-6), output: 0.00015458415507545458 }, PIDState { time: 10159.22, dt: 0.019999999998617568, error: Some(0.0003048251025177251), p: Some(0.00015241255125886255), i: Some(0.0), d: Some(2.6559172325587267e-6), output: 0.0001550684684914213 }, PIDState { time: 10159.24, dt: 0.020000000000436557, error: Some(0.00030583244590332015), p: Some(0.00015291622295166007), i: Some(0.0), d: Some(2.6206480462448043e-6), output: 0.0001555368709979049 }, PIDState { time: 10159.26, dt: 0.020000000000436557, error: Some(0.00030681369418061877), p: Some(0.00015340684709030938), i: Some(0.0), d: Some(2.5779370177056863e-6), output: 0.00015598478410801508 }, PIDState { time: 10159.28, dt: 0.020000000000436557, error: Some(0.00030777516558089246), p: Some(0.00015388758279044623), i: Some(0.0), d: Some(2.527693254497346e-6), output: 0.00015641527604494358 }, PIDState { time: 10159.3, dt: 0.019999999998617568, error: Some(0.0003087145298223959), p: Some(0.00015435726491119794), i: Some(0.0), d: Some(2.4730977777389316e-6), output: 0.00015683036268893688 }, PIDState { time: 10159.32, dt: 0.020000000000436557, error: Some(0.00030962844874693474), p: Some(0.00015481422437346737), i: Some(0.0), d: Some(2.4163545065899235e-6), output: 0.0001572305788800573 }, PIDState { time: 10159.34, dt: 0.020000000000436557, error: Some(0.00031051477311905273), p: Some(0.00015525738655952637), i: Some(0.0), d: Some(2.357071443943196e-6), output: 0.00015761445800346955 }, PIDState { time: 10159.36, dt: 0.020000000000436557, error: Some(0.00031137244204160197), p: Some(0.00015568622102080099), i: Some(0.0), d: Some(2.294305326608941e-6), output: 0.00015798052634740991 }, PIDState { time: 10159.38, dt: 0.019999999998617568, error: Some(0.00031220433832857), p: Some(0.000156102169164285), i: Some(0.0), d: Some(2.2283724697756366e-6), output: 0.0001583305416340606 }, PIDState { time: 10159.4, dt: 0.020000000000436557, error: Some(0.00031301006535500164), p: Some(0.00015650503267750082), i: Some(0.0), d: Some(2.1609844124964167e-6), output: 0.00015866601708999724 }, PIDState { time: 10159.42, dt: 0.020000000000436557, error: Some(0.00031378897131162375), p: Some(0.00015689448565581188), i: Some(0.0), d: Some(2.093482785716049e-6), output: 0.00015898796844152793 }, PIDState { time: 10159.44, dt: 0.020000000000436557, error: Some(0.00031454092795968336), p: Some(0.00015727046397984168), i: Some(0.0), d: Some(2.026143707952651e-6), output: 0.00015929660768779433 }, PIDState { time: 10159.46, dt: 0.019999999998617568, error: Some(0.00031526620226429714), p: Some(0.00015763310113214857), i: Some(0.0), d: Some(1.9589291511587754e-6), output: 0.00015959203028330734 }, PIDState { time: 10159.48, dt: 0.020000000000436557, error: Some(0.0003159674791533007), p: Some(0.00015798373957665035), i: Some(0.0), d: Some(1.8923110147823952e-6), output: 0.00015987605059143275 }, PIDState { time: 10159.5, dt: 0.020000000000436557, error: Some(0.0003166455780672095), p: Some(0.00015832278903360475), i: Some(0.0), d: Some(1.8274119457045674e-6), output: 0.00016015020097930933 }, PIDState { time: 10159.52, dt: 0.020000000000436557, error: Some(0.0003173009230721391), p: Some(0.00015865046153606954), i: Some(0.0), d: Some(1.7650322063975765e-6), output: 0.00016041549374246712 }, PIDState { time: 10159.54, dt: 0.020000000000436557, error: Some(0.00031793395569934546), p: Some(0.00015896697784967273), i: Some(0.0), d: Some(1.705178053713965e-6), output: 0.00016067215590338669 }, PIDState { time: 10159.56, dt: 0.019999999998617568, error: Some(0.0003185347313205966), p: Some(0.0001592673656602983), i: Some(0.0), d: Some(1.64571400183869e-6), output: 0.000160913079662137 }, PIDState { time: 10159.58, dt: 0.020000000000436557, error: Some(0.00031911910042481395), p: Some(0.00015955955021240698), i: Some(0.0), d: Some(1.5850466295192944e-6), output: 0.00016114459684192628 }, PIDState { time: 10159.6, dt: 0.020000000000436557, error: Some(0.0003196889857548513), p: Some(0.00015984449287742564), i: Some(0.0), d: Some(1.5268360508795027e-6), output: 0.00016137132892830514 }, PIDState { time: 10159.62, dt: 0.020000000000436557, error: Some(0.00032024440493216844), p: Some(0.00016012220246608422), i: Some(0.0), d: Some(1.4752547368806769e-6), output: 0.0001615974572029649 }, PIDState { time: 10159.64, dt: 0.019999999998617568, error: Some(0.0003207590090710255), p: Some(0.00016037950453551275), i: Some(0.0), d: Some(1.4261231378530113e-6), output: 0.00016180562767336576 }, PIDState { time: 10159.66, dt: 0.020000000000436557, error: Some(0.00032122820712743305), p: Some(0.00016061410356371653), i: Some(0.0), d: Some(1.367396833634065e-6), output: 0.0001619815003973506 }, PIDState { time: 10159.68, dt: 0.020000000000436557, error: Some(0.00032169405797333184), p: Some(0.00016084702898666592), i: Some(0.0), d: Some(1.2977935755848248e-6), output: 0.00016214482256225073 }, PIDState { time: 10159.7, dt: 0.020000000000436557, error: Some(0.00032215985142158843), p: Some(0.00016107992571079421), i: Some(0.0), d: Some(1.2336849071377957e-6), output: 0.000162313610617932 }, PIDState { time: 10159.72, dt: 0.019999999998617568, error: Some(0.0003232895179934303), p: Some(0.00016164475899671515), i: Some(0.0), d: Some(1.300512817405466e-6), output: 0.00016294527181412062 }, PIDState { time: 10159.74, dt: 0.020000000000436557, error: Some(0.00032436286220161037), p: Some(0.00016218143110080518), i: Some(0.0), d: Some(1.617760912689288e-6), output: 0.00016379919201349447 }, PIDState { time: 10159.76, dt: 0.020000000000436557, error: Some(0.0003253766285382653), p: Some(0.00016268831426913266), i: Some(0.0), d: Some(2.0356936841024273e-6), output: 0.0001647240079532351 }, PIDState { time: 10159.78, dt: 0.020000000000436557, error: Some(0.0003263346459903005), p: Some(0.00016316732299515024), i: Some(0.0), d: Some(2.3434284723489164e-6), output: 0.00016551075146749915 }, PIDState { time: 10159.8, dt: 0.019999999998617568, error: Some(0.0003272351108307703), p: Some(0.00016361755541538514), i: Some(0.0), d: Some(2.4840845661092946e-6), output: 0.00016610163998149444 }, PIDState { time: 10159.82, dt: 0.020000000000436557, error: Some(0.0003280822866429389), p: Some(0.00016404114332146946), i: Some(0.0), d: Some(2.480019234397753e-6), output: 0.00016652116255586722 }, PIDState { time: 10159.84, dt: 0.020000000000436557, error: Some(0.0003288835427781578), p: Some(0.0001644417713890789), i: Some(0.0), d: Some(2.3818870706801386e-6), output: 0.00016682365845975902 }, PIDState { time: 10159.86, dt: 0.020000000000436557, error: Some(0.0003296459234576332), p: Some(0.0001648229617288166), i: Some(0.0), d: Some(2.2403720230006743e-6), output: 0.0001670633337518173 }, PIDState { time: 10159.88, dt: 0.019999999998617568, error: Some(0.0003303912664591735), p: Some(0.00016519563322958675), i: Some(0.0), d: Some(2.095403410268988e-6), output: 0.00016729103663985572 }, PIDState { time: 10159.9, dt: 0.020000000000436557, error: Some(0.0003311224972861737), p: Some(0.00016556124864308686), i: Some(0.0), d: Some(1.9734426059235627e-6), output: 0.00016753469124901042 }, PIDState { time: 10159.92, dt: 0.020000000000436557, error: Some(0.00033178882037532276), p: Some(0.00016589441018766138), i: Some(0.0), d: Some(1.875308230630584e-6), output: 0.00016776971841829196 }, PIDState { time: 10159.94, dt: 0.020000000000436557, error: Some(0.00033243593374265856), p: Some(0.00016621796687132928), i: Some(0.0), d: Some(1.7859769776187027e-6), output: 0.00016800394384894798 }, PIDState { time: 10159.96, dt: 0.019999999998617568, error: Some(0.0003330656701763246), p: Some(0.0001665328350881623), i: Some(0.0), d: Some(1.7040278013961828e-6), output: 0.0001682368628895585 }, PIDState { time: 10159.98, dt: 0.020000000000436557, error: Some(0.00033369583894682364), p: Some(0.00016684791947341182), i: Some(0.0), d: Some(1.6382101612288147e-6), output: 0.00016848612963464064 }, PIDState { time: 10160.0, dt: 0.020000000000436557, error: Some(0.0003343252886764958), p: Some(0.0001671626443382479), i: Some(0.0), d: Some(1.5939047776503375e-6), output: 0.00016875654911589823 }, PIDState { time: 10160.02, dt: 0.020000000000436557, error: Some(0.0003349013060045536), p: Some(0.0001674506530022768), i: Some(0.0), d: Some(1.5612538648483316e-6), output: 0.00016901190686712512 }, PIDState { time: 10160.04, dt: 0.020000000000436557, error: Some(0.00033546719161847705), p: Some(0.00016773359580923852), i: Some(0.0), d: Some(1.522372503224631e-6), output: 0.00016925596831246316 }, PIDState { time: 10160.06, dt: 0.019999999998617568, error: Some(0.00033602399038556996), p: Some(0.00016801199519278498), i: Some(0.0), d: Some(1.477449893767721e-6), output: 0.0001694894450865527 }, PIDState { time: 10160.08, dt: 0.020000000000436557, error: Some(0.0003365818328830983), p: Some(0.00016829091644154914), i: Some(0.0), d: Some(1.437557155179333e-6), output: 0.00016972847359672847 }, PIDState { time: 10160.1, dt: 0.020000000000436557, error: Some(0.00033713900485565773), p: Some(0.00016856950242782887), i: Some(0.0), d: Some(1.4092112181074479e-6), output: 0.0001699787136459363 }, PIDState { time: 10160.12, dt: 0.020000000000436557, error: Some(0.00033769129909444473), p: Some(0.00016884564954722237), i: Some(0.0), d: Some(1.392407439304225e-6), output: 0.0001702380569865266 }, PIDState { time: 10160.14, dt: 0.019999999998617568, error: Some(0.0003382352615375339), p: Some(0.00016911763076876696), i: Some(0.0), d: Some(1.3817390166582788e-6), output: 0.00017049936978542524 }, PIDState { time: 10160.16, dt: 0.020000000000436557, error: Some(0.0003387684758138221), p: Some(0.00016938423790691104), i: Some(0.0), d: Some(1.3710366027446602e-6), output: 0.0001707552745096557 }, PIDState { time: 10160.18, dt: 0.020000000000436557, error: Some(0.00033929555935685585), p: Some(0.00016964777967842792), i: Some(0.0), d: Some(1.3571438571184987e-6), output: 0.00017100492353554642 }, PIDState { time: 10160.2, dt: 0.020000000000436557, error: Some(0.0003398146562290094), p: Some(0.0001699073281145047), i: Some(0.0), d: Some(1.3404555327846004e-6), output: 0.0001712477836472893 }, PIDState { time: 10160.22, dt: 0.019999999998617568, error: Some(0.00034032302815489857), p: Some(0.00017016151407744928), i: Some(0.0), d: Some(1.321579824612885e-6), output: 0.00017148309390206218 }, PIDState { time: 10160.24, dt: 0.020000000000436557, error: Some(0.0003408186523472523), p: Some(0.00017040932617362614), i: Some(0.0), d: Some(1.2997803416376197e-6), output: 0.00017170910651526376 }, PIDState { time: 10160.26, dt: 0.020000000000436557, error: Some(0.0003413001380749847), p: Some(0.00017065006903749236), i: Some(0.0), d: Some(1.274163450553841e-6), output: 0.0001719242324880462 }, PIDState { time: 10160.28, dt: 0.020000000000436557, error: Some(0.000341769015818727), p: Some(0.0001708845079093635), i: Some(0.0), d: Some(1.244838192676978e-6), output: 0.00017212934610204048 }, PIDState { time: 10160.3, dt: 0.019999999998617568, error: Some(0.0003422240248767139), p: Some(0.00017111201243835694), i: Some(0.0), d: Some(1.212919238314917e-6), output: 0.00017232493167667186 }, PIDState { time: 10160.32, dt: 0.020000000000436557, error: Some(0.00034266354198564386), p: Some(0.00017133177099282193), i: Some(0.0), d: Some(1.1791257072171371e-6), output: 0.00017251089670003908 }, PIDState { time: 10160.34, dt: 0.020000000000436557, error: Some(0.00034308624866241644), p: Some(0.00017154312433120822), i: Some(0.0), d: Some(1.1432778165152153e-6), output: 0.00017268640214772343 }, PIDState { time: 10160.36, dt: 0.020000000000436557, error: Some(0.00034349107950504276), p: Some(0.00017174553975252138), i: Some(0.0), d: Some(1.1049575560684644e-6), output: 0.00017285049730858984 }, PIDState { time: 10160.38, dt: 0.019999999998617568, error: Some(0.0003438785074081352), p: Some(0.0001719392537040676), i: Some(0.0), d: Some(1.0641575348558324e-6), output: 0.00017300341123892342 }, PIDState { time: 10160.4, dt: 0.020000000000436557, error: Some(0.00034424776572450355), p: Some(0.00017212388286225178), i: Some(0.0), d: Some(1.0213943360445087e-6), output: 0.00017314527719829628 }, PIDState { time: 10160.42, dt: 0.020000000000436557, error: Some(0.0003445978904039748), p: Some(0.0001722989452019874), i: Some(0.0), d: Some(9.77069513516784e-7), output: 0.0001732760147155042 }, PIDState { time: 10160.44, dt: 0.020000000000436557, error: Some(0.0003449280173981606), p: Some(0.0001724640086990803), i: Some(0.0), d: Some(9.311700393039548e-7), output: 0.00017339517873838424 }, PIDState { time: 10160.46, dt: 0.019999999998617568, error: Some(0.00034523736799485505), p: Some(0.00017261868399742752), i: Some(0.0), d: Some(8.83530090415401e-7), output: 0.00017350221408784293 }, PIDState { time: 10160.48, dt: 0.020000000000436557, error: Some(0.0003455138901671262), p: Some(0.0001727569450835631), i: Some(0.0), d: Some(8.321100466654831e-7), output: 0.00017358905513022857 }, PIDState { time: 10160.5, dt: 0.020000000000436557, error: Some(0.0003457533546651348), p: Some(0.0001728766773325674), i: Some(0.0), d: Some(7.721785016996668e-7), output: 0.00017364885583426705 }, PIDState { time: 10160.52, dt: 0.020000000000436557, error: Some(0.0003459737602753421), p: Some(0.00017298688013767105), i: Some(0.0), d: Some(7.036553305390245e-7), output: 0.00017369053546821008 }, PIDState { time: 10160.54, dt: 0.020000000000436557, error: Some(0.0003461760844913897), p: Some(0.00017308804224569485), i: Some(0.0), d: Some(6.343478545794973e-7), output: 0.00017372239010027434 }, PIDState { time: 10160.56, dt: 0.019999999998617568, error: Some(0.00034636009391419975), p: Some(0.00017318004695709988), i: Some(0.0), d: Some(5.710161787879491e-7), output: 0.00017375106313588783 }, PIDState { time: 10160.58, dt: 0.020000000000436557, error: Some(0.0003465324860343344), p: Some(0.0001732662430171672), i: Some(0.0), d: Some(5.160540635968828e-7), output: 0.00017378229708076408 }, PIDState { time: 10160.6, dt: 0.020000000000436557, error: Some(0.00034669335332182527), p: Some(0.00017334667666091264), i: Some(0.0), d: Some(4.7042651260245707e-7), output: 0.00017381710317351508 }, PIDState { time: 10160.62, dt: 0.020000000000436557, error: Some(0.0003468412607503524), p: Some(0.0001734206303751762), i: Some(0.0), d: Some(4.3293185876451676e-7), output: 0.0001738535622339407 }, PIDState { time: 10160.64, dt: 0.019999999998617568, error: Some(0.00034697504871417095), p: Some(0.00017348752435708548), i: Some(0.0), d: Some(4.002156645487673e-7), output: 0.00017388774002163423 }, PIDState { time: 10160.66, dt: 0.020000000000436557, error: Some(0.0003470940358027974), p: Some(0.0001735470179013987), i: Some(0.0), d: Some(3.688558637794025e-7), output: 0.0001739158737651781 }, PIDState { time: 10160.68, dt: 0.020000000000436557, error: Some(0.0003472070003738281), p: Some(0.00017360350018691406), i: Some(0.0), d: Some(3.381288274672611e-7), output: 0.00017394162901438132 }, PIDState { time: 10160.7, dt: 0.020000000000436557, error: Some(0.0003473144881525059), p: Some(0.00017365724407625294), i: Some(0.0), d: Some(3.1050295800548805e-7), output: 0.00017396774703425842 }, PIDState { time: 10160.72, dt: 0.019999999998617568, error: Some(0.0003474152877913639), p: Some(0.00017370764389568194), i: Some(0.0), d: Some(2.876206027314336e-7), output: 0.00017399526449841338 }, PIDState { time: 10160.74, dt: 0.020000000000436557, error: Some(0.0003475085767377095), p: Some(0.00017375428836885476), i: Some(0.0), d: Some(2.6842458241910435e-7), output: 0.00017402271295127386 }, PIDState { time: 10160.76, dt: 0.020000000000436557, error: Some(0.00034759406588591446), p: Some(0.00017379703294295723), i: Some(0.0), d: Some(2.5095337968127726e-7), output: 0.0001740479863226385 }, PIDState { time: 10160.78, dt: 0.020000000000436557, error: Some(0.0003476825340413825), p: Some(0.00017384126702069125), i: Some(0.0), d: Some(2.3551338067383848e-7), output: 0.0001740767804013651 }, PIDState { time: 10160.8, dt: 0.019999999998617568, error: Some(0.00034769388703637105), p: Some(0.00017384694351818553), i: Some(0.0), d: Some(2.1176274755622806e-7), output: 0.00017405870626574176 }, PIDState { time: 10160.82, dt: 0.020000000000436557, error: Some(0.0003477071500128659), p: Some(0.00017385357500643295), i: Some(0.0), d: Some(1.6580524203945442e-7), output: 0.00017401938024847241 }, PIDState { time: 10160.84, dt: 0.020000000000436557, error: Some(0.0003477276721923772), p: Some(0.0001738638360961886), i: Some(0.0), d: Some(1.1194481839488752e-7), output: 0.0001739757809145835 }, PIDState { time: 10160.86, dt: 0.020000000000436557, error: Some(0.00034775618956928156), p: Some(0.00017387809478464078), i: Some(0.0), d: Some(7.347348505180402e-8), output: 0.00017395156826969258 }, PIDState { time: 10160.88, dt: 0.019999999998617568, error: Some(0.00034771604624950214), p: Some(0.00017385802312475107), i: Some(0.0), d: Some(4.407712481114427e-8), output: 0.0001739021002495622 }, PIDState { time: 10160.9, dt: 0.020000000000436557, error: Some(0.0003476093788918888), p: Some(0.0001738046894459444), i: Some(0.0), d: Some(-6.6691418194861565e-9), output: 0.0001737980203041249 }, PIDState { time: 10160.92, dt: 0.020000000000436557, error: Some(0.00034752383309921697), p: Some(0.00017376191654960849), i: Some(0.0), d: Some(-8.299016950430791e-8), output: 0.0001736789263801042 }, PIDState { time: 10160.94, dt: 0.020000000000436557, error: Some(0.0003474647691064092), p: Some(0.0001737323845532046), i: Some(0.0), d: Some(-1.4890432170398409e-7), output: 0.00017358348023150064 }, PIDState { time: 10160.96, dt: 0.019999999998617568, error: Some(0.0003474318865244186), p: Some(0.0001737159432622093), i: Some(0.0), d: Some(-1.7582869705093325e-7), output: 0.00017354011456515835 }, PIDState { time: 10160.98, dt: 0.020000000000436557, error: Some(0.0003473494212045125), p: Some(0.00017367471060225625), i: Some(0.0), d: Some(-1.7445859478723597e-7), output: 0.00017350025200746903 }, PIDState { time: 10161.0, dt: 0.020000000000436557, error: Some(0.0003472212224977511), p: Some(0.00017361061124887556), i: Some(0.0), d: Some(-1.8179846504492942e-7), output: 0.00017342881278383063 }, PIDState { time: 10161.02, dt: 0.020000000000436557, error: Some(0.0003471233466711965), p: Some(0.00017356167333559824), i: Some(0.0), d: Some(-2.0942611216065594e-7), output: 0.0001733522472234376 }, PIDState { time: 10161.04, dt: 0.020000000000436557, error: Some(0.0003470588967928734), p: Some(0.0001735294483964367), i: Some(0.0), d: Some(-2.2982237713380457e-7), output: 0.00017329962601930288 }, PIDState { time: 10161.06, dt: 0.019999999998617568, error: Some(0.0003470262350617759), p: Some(0.00017351311753088794), i: Some(0.0), d: Some(-2.1998210007997157e-7), output: 0.00017329313543080796 }, PIDState { time: 10161.08, dt: 0.020000000000436557, error: Some(0.0003469658352770466), p: Some(0.0001734829176385233), i: Some(0.0), d: Some(-1.8863465734127886e-7), output: 0.00017329428298118202 }, PIDState { time: 10161.1, dt: 0.020000000000436557, error: Some(0.00034688117318637524), p: Some(0.00017344058659318762), i: Some(0.0), d: Some(-1.6495346942279172e-7), output: 0.00017327563312376484 }, PIDState { time: 10161.12, dt: 0.020000000000436557, error: Some(0.00034682574100486363), p: Some(0.00017341287050243182), i: Some(0.0), d: Some(-1.5875812645972052e-7), output: 0.0001732541123759721 }, PIDState { time: 10161.14, dt: 0.019999999998617568, error: Some(0.00034680040153034497), p: Some(0.00017340020076517249), i: Some(0.0), d: Some(-1.5061081658784123e-7), output: 0.00017324958994858463 }, PIDState { time: 10161.16, dt: 0.020000000000436557, error: Some(0.0003468026315260886), p: Some(0.0001734013157630443), i: Some(0.0), d: Some(-1.2412794450264607e-7), output: 0.00017327718781854165 }, PIDState { time: 10161.18, dt: 0.020000000000436557, error: Some(0.0003467914539356798), p: Some(0.0001733957269678399), i: Some(0.0), d: Some(-8.510948128686475e-8), output: 0.00017331061748655303 }, PIDState { time: 10161.2, dt: 0.020000000000436557, error: Some(0.00034676801180921757), p: Some(0.00017338400590460878), i: Some(0.0), d: Some(-5.338537616363683e-8), output: 0.00017333062052844514 }, PIDState { time: 10161.22, dt: 0.019999999998617568, error: Some(0.00034676512055398234), p: Some(0.00017338256027699117), i: Some(0.0), d: Some(-3.616413408631249e-8), output: 0.00017334639614290486 }, PIDState { time: 10161.24, dt: 0.020000000000436557, error: Some(0.00034678203651594686), p: Some(0.00017339101825797343), i: Some(0.0), d: Some(-2.137304415574452e-8), output: 0.0001733696452138177 }, PIDState { time: 10161.26, dt: 0.020000000000436557, error: Some(0.00034681588446972), p: Some(0.00017340794223486), i: Some(0.0), d: Some(1.4254752765673752e-9), output: 0.00017340936771013656 }, PIDState { time: 10161.28, dt: 0.020000000000436557, error: Some(0.00034683597847617875), p: Some(0.00017341798923808938), i: Some(0.0), d: Some(2.810952608455971e-8), output: 0.00017344609876417393 }, PIDState { time: 10161.3, dt: 0.019999999998617568, error: Some(0.00034684020977238106), p: Some(0.00017342010488619053), i: Some(0.0), d: Some(4.473905091933569e-8), output: 0.00017346484393710986 }, PIDState { time: 10161.32, dt: 0.020000000000436557, error: Some(0.00034685381987742403), p: Some(0.00017342690993871201), i: Some(0.0), d: Some(4.6643122011204375e-8), output: 0.00017347355306072322 }, PIDState { time: 10161.34, dt: 0.020000000000436557, error: Some(0.0003468759930598253), p: Some(0.00017343799652991265), i: Some(0.0), d: Some(4.388699747799024e-8), output: 0.00017348188352739064 }, PIDState { time: 10161.36, dt: 0.020000000000436557, error: Some(0.00034690423318295416), p: Some(0.00017345211659147708), i: Some(0.0), d: Some(4.5443664094100905e-8), output: 0.00017349756025557118 }, PIDState { time: 10161.38, dt: 0.019999999998617568, error: Some(0.00034693798076546045), p: Some(0.00017346899038273023), i: Some(0.0), d: Some(5.2779701817264326e-8), output: 0.0001735217700845475 }, PIDState { time: 10161.4, dt: 0.020000000000436557, error: Some(0.0003469746211948177), p: Some(0.00017348731059740885), i: Some(0.0), d: Some(6.389055363997902e-8), output: 0.00017355120115104884 }, PIDState { time: 10161.42, dt: 0.020000000000436557, error: Some(0.0003470112327050856), p: Some(0.0001735056163525428), i: Some(0.0), d: Some(7.546129252392873e-8), output: 0.00017358107764506672 }, PIDState { time: 10161.44, dt: 0.020000000000436557, error: Some(0.00034704525558026944), p: Some(0.00017352262779013472), i: Some(0.0), d: Some(8.414139207233168e-8), output: 0.00017360676918220705 }, PIDState { time: 10161.46, dt: 0.019999999998617568, error: Some(0.000347074586159124), p: Some(0.000173537293079562), i: Some(0.0), d: Some(8.761689448096627e-8), output: 0.00017362490997404297 }, PIDState { time: 10161.48, dt: 0.020000000000436557, error: Some(0.0003470996138190685), p: Some(0.00017354980690953425), i: Some(0.0), d: Some(8.526138716254779e-8), output: 0.0001736350682966968 }, PIDState { time: 10161.5, dt: 0.020000000000436557, error: Some(0.000347119266123741), p: Some(0.0001735596330618705), i: Some(0.0), d: Some(7.798533192953429e-8), output: 0.00017363761839380004 }, PIDState { time: 10161.52, dt: 0.020000000000436557, error: Some(0.0003471323219912392), p: Some(0.0001735661609956196), i: Some(0.0), d: Some(6.699027190962644e-8), output: 0.00017363315126752923 }, PIDState { time: 10161.54, dt: 0.020000000000436557, error: Some(0.0003471378452815088), p: Some(0.0001735689226407544), i: Some(0.0), d: Some(5.3025107223894344e-8), output: 0.0001736219477479783 }, PIDState { time: 10161.56, dt: 0.019999999998617568, error: Some(0.0003471352108164183), p: Some(0.00017356760540820915), i: Some(0.0), d: Some(3.657329407787478e-8), output: 0.00017360417870228702 }, PIDState { time: 10161.58, dt: 0.020000000000436557, error: Some(0.0003471285620832987), p: Some(0.00017356428104164934), i: Some(0.0), d: Some(1.883537757924568e-8), output: 0.00017358311641922858 }, PIDState { time: 10161.6, dt: 0.020000000000436557, error: Some(0.0003471181099854448), p: Some(0.0001735590549927224), i: Some(0.0), d: Some(1.981600302336408e-9), output: 0.00017356103659302473 }, PIDState { time: 10161.62, dt: 0.020000000000436557, error: Some(0.00034710332819543055), p: Some(0.00017355166409771527), i: Some(0.0), d: Some(-1.2649593592101742e-8), output: 0.00017353901450412317 }, PIDState { time: 10161.64, dt: 0.019999999998617568, error: Some(0.0003470840215129556), p: Some(0.0001735420107564778), i: Some(0.0), d: Some(-2.5280261778623608e-8), output: 0.00017351673049469918 }, PIDState { time: 10161.66, dt: 0.020000000000436557, error: Some(0.00034706040149501405), p: Some(0.00017353020074750702), i: Some(0.0), d: Some(-3.6660772813994215e-8), output: 0.00017349353997469304 }, PIDState { time: 10161.68, dt: 0.020000000000436557, error: Some(0.0003469508943112487), p: Some(0.00017347544715562435), i: Some(0.0), d: Some(-6.115622653966752e-8), output: 0.0001734142909290847 }, PIDState { time: 10161.7, dt: 0.020000000000436557, error: Some(0.00034675493074587393), p: Some(0.00017337746537293697), i: Some(0.0), d: Some(-1.2873111119100534e-7), output: 0.00017324873426174597 }, PIDState { time: 10161.72, dt: 0.019999999998617568, error: Some(0.0003465711416765771), p: Some(0.00017328557083828855), i: Some(0.0), d: Some(-2.374465897071212e-7), output: 0.00017304812424858142 }, PIDState { time: 10161.74, dt: 0.020000000000436557, error: Some(0.00034640792478057847), p: Some(0.00017320396239028923), i: Some(0.0), d: Some(-3.408156650081702e-7), output: 0.00017286314672528106 }, PIDState { time: 10161.76, dt: 0.020000000000436557, error: Some(0.00034626698317197224), p: Some(0.00017313349158598612), i: Some(0.0), d: Some(-4.013385225373334e-7), output: 0.00017273215306344878 }, PIDState { time: 10161.78, dt: 0.020000000000436557, error: Some(0.000346153409566341), p: Some(0.0001730767047831705), i: Some(0.0), d: Some(-4.122465768025373e-7), output: 0.00017266445820636795 }, PIDState { time: 10161.8, dt: 0.019999999998617568, error: Some(0.00034606531174574684), p: Some(0.00017303265587287342), i: Some(0.0), d: Some(-3.8244710301864464e-7), output: 0.00017265020876985478 }, PIDState { time: 10161.82, dt: 0.020000000000436557, error: Some(0.00034599943082014306), p: Some(0.00017299971541007153), i: Some(0.0), d: Some(-3.269297357221231e-7), output: 0.0001726727856743494 }, PIDState { time: 10161.84, dt: 0.020000000000436557, error: Some(0.0003459532712213331), p: Some(0.00017297663561066656), i: Some(0.0), d: Some(-2.6066054522813453e-7), output: 0.00017271597506543843 }, PIDState { time: 10161.86, dt: 0.020000000000436557, error: Some(0.00034592538715116916), p: Some(0.00017296269357558458), i: Some(0.0), d: Some(-1.943537041837072e-7), output: 0.00017276833987140086 }, PIDState { time: 10161.88, dt: 0.019999999998617568, error: Some(0.00034584026330719553), p: Some(0.00017292013165359776), i: Some(0.0), d: Some(-1.460854442856113e-7), output: 0.00017277404620931214 }, PIDState { time: 10161.9, dt: 0.020000000000436557, error: Some(0.00034570272531198043), p: Some(0.00017285136265599021), i: Some(0.0), d: Some(-1.4335003269122455e-7), output: 0.00017270801262329899 }, PIDState { time: 10161.92, dt: 0.020000000000436557, error: Some(0.0003455937643508378), p: Some(0.0001727968821754189), i: Some(0.0), d: Some(-1.8266041245260036e-7), output: 0.00017261422176296628 }, PIDState { time: 10161.94, dt: 0.020000000000436557, error: Some(0.000345519245001924), p: Some(0.000172759622500962), i: Some(0.0), d: Some(-2.2211309039203663e-7), output: 0.00017253750941056997 }, PIDState { time: 10161.96, dt: 0.019999999998617568, error: Some(0.00034547926948391705), p: Some(0.00017273963474195853), i: Some(0.0), d: Some(-2.2871841446519075e-7), output: 0.00017251091632749333 }, PIDState { time: 10161.98, dt: 0.020000000000436557, error: Some(0.0003454074883819658), p: Some(0.0001727037441909829), i: Some(0.0), d: Some(-2.0788668964709931e-7), output: 0.0001724958575013358 }, PIDState { time: 10162.0, dt: 0.020000000000436557, error: Some(0.0003453083049578254), p: Some(0.0001726541524789127), i: Some(0.0), d: Some(-1.9087268685905456e-7), output: 0.00017246327979205363 }, PIDState { time: 10162.02, dt: 0.020000000000436557, error: Some(0.0003452423283789585), p: Some(0.00017262116418947926), i: Some(0.0), d: Some(-1.890312322648252e-7), output: 0.00017243213295721444 }, PIDState { time: 10162.04, dt: 0.020000000000436557, error: Some(0.0003452112110124972), p: Some(0.0001726056055062486), i: Some(0.0), d: Some(-1.814924924641369e-7), output: 0.00017242411301378446 }, PIDState { time: 10162.06, dt: 0.019999999998617568, error: Some(0.00034521260769793116), p: Some(0.00017260630384896558), i: Some(0.0), d: Some(-1.5079577387300016e-7), output: 0.0001724555080750926 }, PIDState { time: 10162.08, dt: 0.020000000000436557, error: Some(0.0003461304313674418), p: Some(0.0001730652156837209), i: Some(0.0), d: Some(5.256737186262683e-8), output: 0.00017311778305558354 }, PIDState { time: 10162.1, dt: 0.020000000000436557, error: Some(0.00034707396727640116), p: Some(0.00017353698363820058), i: Some(0.0), d: Some(5.912441699811288e-7), output: 0.0001741282278081817 }, PIDState { time: 10162.12, dt: 0.020000000000436557, error: Some(-0.003112379821160971), p: Some(-0.0015561899105804855), i: Some(0.0), d: Some(1.2777739220321327e-6), output: -0.0015549121366584533 }, PIDState { time: 10162.14, dt: 0.019999999998617568, error: Some(-0.0031115536734631632), p: Some(-0.0015557768367315816), i: Some(0.0), d: Some(1.8162019230194156e-6), output: -0.0015539606348085621 }, PIDState { time: 10162.16, dt: 0.020000000000436557, error: Some(-0.0031084877816311973), p: Some(-0.0015542438908155987), i: Some(0.0), d: Some(2.494763573990394e-6), output: -0.0015517491272416084 }, PIDState { time: 10162.18, dt: 0.020000000000436557, error: Some(-0.0031033746493136505), p: Some(-0.0015516873246568252), i: Some(0.0), d: Some(4.137377333800487e-6), output: -0.0015475499473230248 }, PIDState { time: 10162.2, dt: 0.020000000000436557, error: Some(-0.003049826093501906), p: Some(-0.001524913046750953), i: Some(0.0), d: Some(1.497099561799147e-5), output: -0.0015099420511329616 }, PIDState { time: 10162.22, dt: 0.019999999998617568, error: Some(-0.00984642014674364), p: Some(-0.00492321007337182), i: Some(0.0), d: Some(5.151872257952491e-5), output: -0.0048716913507922946 }, PIDState { time: 10162.24, dt: 0.020000000000436557, error: Some(-0.009699859184166826), p: Some(-0.004849929592083413), i: Some(0.0), d: Some(0.00012083525164882982), output: -0.004729094340434583 }, PIDState { time: 10162.26, dt: 0.020000000000436557, error: Some(-0.009508524783555572), p: Some(-0.004754262391777786), i: Some(0.0), d: Some(0.00021573531160606484), output: -0.004538527080171721 }, PIDState { time: 10162.28, dt: 0.020000000000436557, error: Some(-0.009276955254179597), p: Some(-0.004638477627089799), i: Some(0.0), d: Some(0.0003250000816246893), output: -0.004313477545465109 }, PIDState { time: 10162.3, dt: 0.019999999998617568, error: Some(-0.008963235540051073), p: Some(-0.004481617770025537), i: Some(0.0), d: Some(0.00044568721449963984), output: -0.004035930555525897 }, PIDState { time: 10162.32, dt: 0.020000000000436557, error: Some(-0.018889381107072722), p: Some(-0.009444690553536361), i: Some(0.0), d: Some(0.0005862670549242752), output: -0.008858423498612086 }, PIDState { time: 10162.34, dt: 0.020000000000436557, error: Some(-0.01842517641789243), p: Some(-0.009212588208946215), i: Some(0.0), d: Some(0.0007496073786421279), output: -0.008462980830304088 }, PIDState { time: 10162.36, dt: 0.020000000000436557, error: Some(-0.01788889126730453), p: Some(-0.008944445633652265), i: Some(0.0), d: Some(0.0009279321680635019), output: -0.008016513465588763 }, PIDState { time: 10162.38, dt: 0.019999999998617568, error: Some(-0.017287045020466962), p: Some(-0.008643522510233481), i: Some(0.0), d: Some(0.0011118224552709537), output: -0.007531700054962527 }, PIDState { time: 10162.4, dt: 0.020000000000436557, error: Some(-0.01657971976194972), p: Some(-0.00828985988097486), i: Some(0.0), d: Some(0.0013004482256260917), output: -0.0069894116553487675 }, PIDState { time: 10162.42, dt: 0.020000000000436557, error: Some(-0.029499087372528265), p: Some(-0.014749543686264133), i: Some(0.0), d: Some(0.0015036167575232645), output: -0.013245926928740869 }, PIDState { time: 10162.44, dt: 0.020000000000436557, error: Some(-0.028600467617081904), p: Some(-0.014300233808540952), i: Some(0.0), d: Some(0.0017248682304994004), output: -0.012575365578041552 }, PIDState { time: 10162.46, dt: 0.019999999998617568, error: Some(-0.02760980702271354), p: Some(-0.01380490351135677), i: Some(0.0), d: Some(0.00195707529320088), output: -0.01184782821815589 }, PIDState { time: 10162.48, dt: 0.020000000000436557, error: Some(-0.026535352666314793), p: Some(-0.013267676333157397), i: Some(0.0), d: Some(0.002191732585023684), output: -0.011075943748133713 }, PIDState { time: 10162.5, dt: 0.020000000000436557, error: Some(-0.02533893645707508), p: Some(-0.01266946822853754), i: Some(0.0), d: Some(0.0024284365293635386), output: -0.010241031699174001 }, PIDState { time: 10162.52, dt: 0.020000000000436557, error: Some(-0.04115201760373566), p: Some(-0.02057600880186783), i: Some(0.0), d: Some(0.002676712714068959), output: -0.01789929608779887 }, PIDState { time: 10162.54, dt: 0.020000000000436557, error: Some(-0.03973660370792231), p: Some(-0.019868301853961157), i: Some(0.0), d: Some(0.002939604001460407), output: -0.01692869785250075 }, PIDState { time: 10162.56, dt: 0.019999999998617568, error: Some(-0.03821532618727019), p: Some(-0.019107663093635097), i: Some(0.0), d: Some(0.0032099807881384116), output: -0.015897682305496687 }, PIDState { time: 10162.58, dt: 0.020000000000436557, error: Some(-0.0365978417590469), p: Some(-0.01829892087952345), i: Some(0.0), d: Some(0.0034800256513393907), output: -0.01481889522818406 }, PIDState { time: 10162.6, dt: 0.020000000000436557, error: Some(-0.034847399091475495), p: Some(-0.017423699545737747), i: Some(0.0), d: Some(0.0037497924977627235), output: -0.013673907047975024 }, PIDState { time: 10162.62, dt: 0.020000000000436557, error: Some(-0.05348883332179355), p: Some(-0.026744416660896775), i: Some(0.0), d: Some(0.004028659784215169), output: -0.022715756876681606 }, PIDState { time: 10162.64, dt: 0.019999999998617568, error: Some(-0.05150171402159742), p: Some(-0.02575085701079871), i: Some(0.0), d: Some(0.004319310185782798), output: -0.021431546825015912 }, PIDState { time: 10162.66, dt: 0.020000000000436557, error: Some(-0.04939946139475637), p: Some(-0.024699730697378186), i: Some(0.0), d: Some(0.0046147062146103465), output: -0.02008502448276784 }, PIDState { time: 10162.68, dt: 0.020000000000436557, error: Some(-0.04719287871984079), p: Some(-0.023596439359920396), i: Some(0.0), d: Some(0.004907759503004979), output: -0.018688679856915417 }, PIDState { time: 10162.7, dt: 0.020000000000436557, error: Some(-0.04484632459070781), p: Some(-0.022423162295353904), i: Some(0.0), d: Some(0.005198982211907432), output: -0.01722418008344647 }, PIDState { time: 10162.72, dt: 0.019999999998617568, error: Some(-0.06627726873739448), p: Some(-0.03313863436869724), i: Some(0.0), d: Some(0.005497584581069016), output: -0.027641049787628224 }, PIDState { time: 10162.74, dt: 0.020000000000436557, error: Some(-0.06368364312100994), p: Some(-0.03184182156050497), i: Some(0.0), d: Some(0.005805844547825761), output: -0.026035977012679207 }, PIDState { time: 10162.76, dt: 0.020000000000436557, error: Some(-0.06096892004731558), p: Some(-0.03048446002365779), i: Some(0.0), d: Some(0.006116758912278135), output: -0.024367701111379654 }, PIDState { time: 10162.78, dt: 0.020000000000436557, error: Some(-0.0581448572316674), p: Some(-0.0290724286158337), i: Some(0.0), d: Some(0.006423915352706875), output: -0.022648513263126828 }, PIDState { time: 10162.8, dt: 0.019999999998617568, error: Some(-0.055176675764315064), p: Some(-0.027588337882157532), i: Some(0.0), d: Some(0.006728246503825235), output: -0.020860091378332297 }, PIDState { time: 10162.82, dt: 0.020000000000436557, error: Some(-0.07937106558348717), p: Some(-0.03968553279174358), i: Some(0.0), d: Some(0.007038774438896932), output: -0.03264675835284665 }, PIDState { time: 10162.84, dt: 0.020000000000436557, error: Some(-0.07615061978609106), p: Some(-0.03807530989304553), i: Some(0.0), d: Some(0.007357350098691201), output: -0.03071795979435433 }, PIDState { time: 10162.86, dt: 0.020000000000436557, error: Some(-0.07280545124331184), p: Some(-0.03640272562165592), i: Some(0.0), d: Some(0.007676973890468626), output: -0.028725751731187292 }, PIDState { time: 10162.88, dt: 0.019999999998617568, error: Some(-0.06934812592950834), p: Some(-0.03467406296475417), i: Some(0.0), d: Some(0.00799187909697595), output: -0.026682183867778222 }, PIDState { time: 10162.9, dt: 0.020000000000436557, error: Some(-0.06574463155376975), p: Some(-0.032872315776884875), i: Some(0.0), d: Some(0.008303378925749545), output: -0.02456893685113533 }, PIDState { time: 10162.92, dt: 0.020000000000436557, error: Some(-0.09269293025094782), p: Some(-0.04634646512547391), i: Some(0.0), d: Some(0.008620259131022384), output: -0.03772620599445153 }, PIDState { time: 10162.94, dt: 0.020000000000436557, error: Some(-0.0888357594567708), p: Some(-0.0444178797283854), i: Some(0.0), d: Some(0.008943910676845091), output: -0.03547396905154031 }, PIDState { time: 10162.96, dt: 0.019999999998617568, error: Some(-0.08485191289003069), p: Some(-0.042425956445015345), i: Some(0.0), d: Some(0.009267328801793193), output: -0.03315862764322215 }, PIDState { time: 10162.98, dt: 0.020000000000436557, error: Some(-0.08075464579660263), p: Some(-0.040377322898301315), i: Some(0.0), d: Some(0.009585394781735377), output: -0.03079192811656594 }, PIDState { time: 10163.0, dt: 0.020000000000436557, error: Some(-0.07651053208876135), p: Some(-0.038255266044380676), i: Some(0.0), d: Some(0.009899810860090744), output: -0.028355455184289932 }, PIDState { time: 10163.02, dt: 0.020000000000436557, error: Some(-0.09883642965985473), p: Some(-0.049418214829927365), i: Some(0.0), d: Some(0.01021913867258646), output: -0.039199076157340904 }, PIDState { time: 10163.04, dt: 0.020000000000436557, error: Some(-0.09433965605570904), p: Some(-0.04716982802785452), i: Some(0.0), d: Some(0.010544304315040883), output: -0.036625523712813635 }, PIDState { time: 10163.06, dt: 0.019999999998617568, error: Some(-0.08972042776733247), p: Some(-0.04486021388366623), i: Some(0.0), d: Some(0.01086741043660842), output: -0.03399280344705781 }, PIDState { time: 10163.08, dt: 0.020000000000436557, error: Some(-0.08499255148221607), p: Some(-0.042496275741108036), i: Some(0.0), d: Some(0.011182117327653354), output: -0.03131415841345468 }, PIDState { time: 10163.1, dt: 0.020000000000436557, error: Some(-0.08013235445706357), p: Some(-0.040066177228531785), i: Some(0.0), d: Some(0.01148805171327915), output: -0.028578125515252635 }, PIDState { time: 10163.12, dt: 0.020000000000436557, error: Some(-0.12011178702294956), p: Some(-0.06005589351147478), i: Some(0.0), d: Some(0.011790904847303862), output: -0.048264988664170914 }, PIDState { time: 10163.14, dt: 0.019999999998617568, error: Some(-0.11502737431595733), p: Some(-0.057513687157978666), i: Some(0.0), d: Some(0.012091032271816187), output: -0.04542265488616248 }, PIDState { time: 10163.16, dt: 0.020000000000436557, error: Some(-0.10982065473434943), p: Some(-0.054910327367174716), i: Some(0.0), d: Some(0.012385165322279824), output: -0.04252516204489489 }, PIDState { time: 10163.18, dt: 0.020000000000436557, error: Some(-0.10450469686567487), p: Some(-0.05225234843283744), i: Some(0.0), d: Some(0.012674808131566559), output: -0.03957754030127088 }, PIDState { time: 10163.2, dt: 0.020000000000436557, error: Some(-0.09903672380568196), p: Some(-0.04951836190284098), i: Some(0.0), d: Some(0.012967550289636885), output: -0.036550811613204094 }, PIDState { time: 10163.22, dt: 0.019999999998617568, error: Some(-0.134289315025228), p: Some(-0.067144657512614), i: Some(0.0), d: Some(0.013275555496949702), output: -0.053869102015664305 }, PIDState { time: 10163.24, dt: 0.020000000000436557, error: Some(-0.1285626168106404), p: Some(-0.0642813084053202), i: Some(0.0), d: Some(0.013599300280095834), output: -0.05068200812522437 }, PIDState { time: 10163.26, dt: 0.020000000000436557, error: Some(-0.12270339997462543), p: Some(-0.06135169998731271), i: Some(0.0), d: Some(0.01392852003224141), output: -0.0474231799550713 }, PIDState { time: 10163.28, dt: 0.020000000000436557, error: Some(-0.11672742681963655), p: Some(-0.058363713409818274), i: Some(0.0), d: Some(0.01425590657580436), output: -0.04410780683401391 }, PIDState { time: 10163.3, dt: 0.019999999998617568, error: Some(-0.11060343047466858), p: Some(-0.05530171523733429), i: Some(0.0), d: Some(0.014580889782592164), output: -0.04072082545474213 }, PIDState { time: 10163.32, dt: 0.020000000000436557, error: Some(-0.14860044333275368), p: Some(-0.07430022166637684), i: Some(0.0), d: Some(0.014909180504542813), output: -0.05939104116183403 }]
09:26:59.502 ERROR [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:149] Logger control/pid/x_angular_velocity failed to flush: SqliteFailure(Error { code: ConstraintViolation, extended_code: 1555 }, Some("UNIQUE constraint failed: control/pid/x_angular_velocity.time"))
09:26:59.502 ERROR [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:149] Logger control/pid/y_angular_velocity failed to flush: SqliteFailure(Error { code: ConstraintViolation, extended_code: 1555 }, Some("UNIQUE constraint failed: control/pid/y_angular_velocity.time"))
09:26:59.502 ERROR [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:149] Logger control/pid/x_position failed to flush: SqliteFailure(Error { code: ConstraintViolation, extended_code: 1555 }, Some("UNIQUE constraint failed: control/pid/x_position.time"))
09:26:59.522 ERROR [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:150] Buffer: [PIDState { time: 10143.32, dt: 0.020000000000436557, error: Some(-6.125472920698316e-6), p: Some(-9.188209381047474e-6), i: Some(0.0), d: Some(-4.335970114824479e-8), output: -9.231569082195718e-6 }, PIDState { time: 10143.34, dt: 0.020000000000436557, error: Some(-6.139705762589487e-6), p: Some(-9.20955864388423e-6), i: Some(0.0), d: Some(-4.750389827557752e-8), output: -9.257062542159809e-6 }, PIDState { time: 10143.36, dt: 0.020000000000436557, error: Some(-6.154433945360083e-6), p: Some(-9.231650918040124e-6), i: Some(0.0), d: Some(-5.074744858525929e-8), output: -9.282398366625383e-6 }, PIDState { time: 10143.38, dt: 0.019999999998617568, error: Some(-6.169461513244601e-6), p: Some(-9.254192269866901e-6), i: Some(0.0), d: Some(-5.324649477047106e-8), output: -9.307438764637372e-6 }, PIDState { time: 10143.4, dt: 0.020000000000436557, error: Some(-6.184370281742124e-6), p: Some(-9.276555422613186e-6), i: Some(0.0), d: Some(-5.501062527045839e-8), output: -9.331566047883644e-6 }, PIDState { time: 10143.42, dt: 0.020000000000436557, error: Some(-6.198725109193837e-6), p: Some(-9.298087663790755e-6), i: Some(0.0), d: Some(-5.587088767014229e-8), output: -9.353958551460898e-6 }, PIDState { time: 10143.44, dt: 0.020000000000436557, error: Some(-6.212489290696732e-6), p: Some(-9.318733936045098e-6), i: Some(0.0), d: Some(-5.566620873080142e-8), output: -9.3744001447759e-6 }, PIDState { time: 10143.46, dt: 0.019999999998617568, error: Some(-6.225600059195369e-6), p: Some(-9.338400088793053e-6), i: Some(0.0), d: Some(-5.447292163060117e-8), output: -9.392873010423654e-6 }, PIDState { time: 10143.48, dt: 0.020000000000436557, error: Some(-6.23789936453345e-6), p: Some(-9.356849046800175e-6), i: Some(0.0), d: Some(-5.250826467257575e-8), output: -9.409357311472752e-6 }, PIDState { time: 10143.5, dt: 0.020000000000436557, error: Some(-6.24895056146324e-6), p: Some(-9.37342584219486e-6), i: Some(0.0), d: Some(-4.986375620311914e-8), output: -9.423289598397979e-6 }, PIDState { time: 10143.52, dt: 0.020000000000436557, error: Some(-6.258487949259428e-6), p: Some(-9.387731923889142e-6), i: Some(0.0), d: Some(-4.643251735675071e-8), output: -9.434164441245893e-6 }, PIDState { time: 10143.54, dt: 0.020000000000436557, error: Some(-6.266572170968154e-6), p: Some(-9.399858256452231e-6), i: Some(0.0), d: Some(-4.2153170464172277e-8), output: -9.442011426916403e-6 }, PIDState { time: 10143.56, dt: 0.019999999998617568, error: Some(-6.272766264164842e-6), p: Some(-9.409149396247263e-6), i: Some(0.0), d: Some(-3.70821526135131e-8), output: -9.446231548860776e-6 }, PIDState { time: 10143.58, dt: 0.020000000000436557, error: Some(-6.277263360665586e-6), p: Some(-9.415895040998379e-6), i: Some(0.0), d: Some(-3.1299499187503096e-8), output: -9.447194540185882e-6 }, PIDState { time: 10143.6, dt: 0.020000000000436557, error: Some(-6.279937242462119e-6), p: Some(-9.419905863693179e-6), i: Some(0.0), d: Some(-2.4985510830927005e-8), output: -9.444891374524105e-6 }, PIDState { time: 10143.62, dt: 0.020000000000436557, error: Some(-6.2805214688516076e-6), p: Some(-9.420782203277411e-6), i: Some(0.0), d: Some(-1.827558176076893e-8), output: -9.43905778503818e-6 }, PIDState { time: 10143.64, dt: 0.019999999998617568, error: Some(-6.279303663647706e-6), p: Some(-9.41895549547156e-6), i: Some(0.0), d: Some(-1.1238468629353242e-8), output: -9.430193964100913e-6 }, PIDState { time: 10143.66, dt: 0.020000000000436557, error: Some(-6.276088740472807e-6), p: Some(-9.41413311070921e-6), i: Some(0.0), d: Some(-4.01960189116738e-9), output: -9.418152712600378e-6 }, PIDState { time: 10143.68, dt: 0.020000000000436557, error: Some(-6.27079398862751e-6), p: Some(-9.406190982941265e-6), i: Some(0.0), d: Some(3.318806343013828e-9), output: -9.402872176598251e-6 }, PIDState { time: 10143.7, dt: 0.020000000000436557, error: Some(-6.263491318644898e-6), p: Some(-9.395236977967347e-6), i: Some(0.0), d: Some(1.0791822771883778e-8), output: -9.384445155195463e-6 }, PIDState { time: 10143.72, dt: 0.019999999998617568, error: Some(-6.254501008606805e-6), p: Some(-9.381751512910208e-6), i: Some(0.0), d: Some(1.827287183995219e-8), output: -9.363478641070256e-6 }, PIDState { time: 10143.74, dt: 0.020000000000436557, error: Some(-6.243831506505537e-6), p: Some(-9.365747259758306e-6), i: Some(0.0), d: Some(2.552517495815112e-8), output: -9.340222084800154e-6 }, PIDState { time: 10143.76, dt: 0.020000000000436557, error: Some(-6.231641200213356e-6), p: Some(-9.347461800320034e-6), i: Some(0.0), d: Some(3.238735403682412e-8), output: -9.31507444628321e-6 }, PIDState { time: 10143.78, dt: 0.020000000000436557, error: Some(-6.217910959768758e-6), p: Some(-9.326866439653136e-6), i: Some(0.0), d: Some(3.88206269872022e-8), output: -9.288045812665933e-6 }, PIDState { time: 10143.8, dt: 0.019999999998617568, error: Some(-6.202753397313576e-6), p: Some(-9.304130095970364e-6), i: Some(0.0), d: Some(4.486583912754922e-8), output: -9.259264256842815e-6 }, PIDState { time: 10143.82, dt: 0.020000000000436557, error: Some(-6.186760412293935e-6), p: Some(-9.280140618440902e-6), i: Some(0.0), d: Some(5.044270011984782e-8), output: -9.229697918321054e-6 }, PIDState { time: 10143.84, dt: 0.020000000000436557, error: Some(-6.1697226242940495e-6), p: Some(-9.254583936441074e-6), i: Some(0.0), d: Some(5.536946471391192e-8), output: -9.199214471727163e-6 }, PIDState { time: 10143.86, dt: 0.020000000000436557, error: Some(-6.152252202046293e-6), p: Some(-9.22837830306944e-6), i: Some(0.0), d: Some(5.9547868686225426e-8), output: -9.168830434383215e-6 }, PIDState { time: 10143.88, dt: 0.019999999998617568, error: Some(-6.134480707659096e-6), p: Some(-9.201721061488644e-6), i: Some(0.0), d: Some(6.284925153434571e-8), output: -9.138871809954297e-6 }, PIDState { time: 10143.9, dt: 0.020000000000436557, error: Some(-6.11715089307574e-6), p: Some(-9.17572633961361e-6), i: Some(0.0), d: Some(6.504784454964138e-8), output: -9.110678495063968e-6 }, PIDState { time: 10143.92, dt: 0.020000000000436557, error: Some(-6.100702429512328e-6), p: Some(-9.151053644268492e-6), i: Some(0.0), d: Some(6.582773938580754e-8), output: -9.085225904882684e-6 }, PIDState { time: 10143.94, dt: 0.020000000000436557, error: Some(-6.0852745317335755e-6), p: Some(-9.127911797600363e-6), i: Some(0.0), d: Some(6.499578729414228e-8), output: -9.06291601030622e-6 }, PIDState { time: 10143.96, dt: 0.019999999998617568, error: Some(-6.070994598830759e-6), p: Some(-9.106491898246138e-6), i: Some(0.0), d: Some(6.269329113801943e-8), output: -9.04379860710812e-6 }, PIDState { time: 10143.98, dt: 0.020000000000436557, error: Some(-6.058319317700511e-6), p: Some(-9.087478976550767e-6), i: Some(0.0), d: Some(5.916017404174548e-8), output: -9.028318802509022e-6 }, PIDState { time: 10144.0, dt: 0.020000000000436557, error: Some(-6.047652821264404e-6), p: Some(-9.071479231896606e-6), i: Some(0.0), d: Some(5.446202472748107e-8), output: -9.017017207169126e-6 }, PIDState { time: 10144.02, dt: 0.020000000000436557, error: Some(-6.0391420698274745e-6), p: Some(-9.058713104741212e-6), i: Some(0.0), d: Some(4.8583114903455495e-8), output: -9.010129989837757e-6 }, PIDState { time: 10144.04, dt: 0.020000000000436557, error: Some(-6.033359426699247e-6), p: Some(-9.050039140048871e-6), i: Some(0.0), d: Some(4.1514184817480473e-8), output: -9.00852495523139e-6 }, PIDState { time: 10144.06, dt: 0.019999999998617568, error: Some(-6.027861658583489e-6), p: Some(-9.041792487875233e-6), i: Some(0.0), d: Some(3.386379663767585e-8), output: -9.007928691237558e-6 }, PIDState { time: 10144.08, dt: 0.020000000000436557, error: Some(-6.022292929341866e-6), p: Some(-9.033439394012799e-6), i: Some(0.0), d: Some(2.722135060992695e-8), output: -9.006218043402872e-6 }, PIDState { time: 10144.1, dt: 0.020000000000436557, error: Some(-6.019517613975456e-6), p: Some(-9.029276420963184e-6), i: Some(0.0), d: Some(2.2044481473772755e-8), output: -9.007231939489411e-6 }, PIDState { time: 10144.12, dt: 0.020000000000436557, error: Some(-6.019142889973628e-6), p: Some(-9.028714334960442e-6), i: Some(0.0), d: Some(1.686690766415897e-8), output: -9.011847427296283e-6 }, PIDState { time: 10144.14, dt: 0.019999999998617568, error: Some(-6.021365481209684e-6), p: Some(-9.032048221814526e-6), i: Some(0.0), d: Some(1.0507943334961684e-8), output: -9.021540278479564e-6 }, PIDState { time: 10144.16, dt: 0.020000000000436557, error: Some(-6.025982289603604e-6), p: Some(-9.038973434405406e-6), i: Some(0.0), d: Some(2.8501805426338325e-9), output: -9.036123253862772e-6 }, PIDState { time: 10144.18, dt: 0.020000000000436557, error: Some(-6.033005736039154e-6), p: Some(-9.049508604058731e-6), i: Some(0.0), d: Some(-5.75455808544598e-9), output: -9.055263162144178e-6 }, PIDState { time: 10144.2, dt: 0.020000000000436557, error: Some(-6.0424391820912415e-6), p: Some(-9.063658773136862e-6), i: Some(0.0), d: Some(-1.4861284654268987e-8), output: -9.078520057791131e-6 }, PIDState { time: 10144.22, dt: 0.019999999998617568, error: Some(-6.053717876569609e-6), p: Some(-9.080576814854413e-6), i: Some(0.0), d: Some(-2.4012845214596695e-8), output: -9.10458966006901e-6 }, PIDState { time: 10144.24, dt: 0.020000000000436557, error: Some(-6.0670299954213025e-6), p: Some(-9.100544993131954e-6), i: Some(0.0), d: Some(-3.2771163685420575e-8), output: -9.133316156817374e-6 }, PIDState { time: 10144.26, dt: 0.020000000000436557, error: Some(-6.081817966782643e-6), p: Some(-9.122726950173965e-6), i: Some(0.0), d: Some(-4.0872807746526214e-8), output: -9.16359975792049e-6 }, PIDState { time: 10144.28, dt: 0.020000000000436557, error: Some(-6.0981549273031455e-6), p: Some(-9.147232390954718e-6), i: Some(0.0), d: Some(-4.817023392156201e-8), output: -9.19540262487628e-6 }, PIDState { time: 10144.3, dt: 0.019999999998617568, error: Some(-6.115688872085356e-6), p: Some(-9.173533308128035e-6), i: Some(0.0), d: Some(-5.462644781929816e-8), output: -9.228159755947332e-6 }, PIDState { time: 10144.32, dt: 0.020000000000436557, error: Some(-6.1339562845569295e-6), p: Some(-9.200934426835394e-6), i: Some(0.0), d: Some(-6.017632105549417e-8), output: -9.26111074789089e-6 }, PIDState { time: 10144.34, dt: 0.020000000000436557, error: Some(-6.152702367923091e-6), p: Some(-9.229053551884636e-6), i: Some(0.0), d: Some(-6.464952369383907e-8), output: -9.293703075578475e-6 }, PIDState { time: 10144.36, dt: 0.020000000000436557, error: Some(-6.171698208629062e-6), p: Some(-9.257547312943593e-6), i: Some(0.0), d: Some(-6.796219104855168e-8), output: -9.325509503992144e-6 }, PIDState { time: 10144.38, dt: 0.019999999998617568, error: Some(-6.190271448242024e-6), p: Some(-9.285407172363036e-6), i: Some(0.0), d: Some(-7.004249919259323e-8), output: -9.35544967155563e-6 }, PIDState { time: 10144.4, dt: 0.020000000000436557, error: Some(-6.208132852736359e-6), p: Some(-9.312199279104538e-6), i: Some(0.0), d: Some(-7.072209046858578e-8), output: -9.382921369573125e-6 }, PIDState { time: 10144.42, dt: 0.020000000000436557, error: Some(-6.224869379428677e-6), p: Some(-9.337304069143015e-6), i: Some(0.0), d: Some(-6.988852173596371e-8), output: -9.40719259087898e-6 }, PIDState { time: 10144.44, dt: 0.020000000000436557, error: Some(-6.240541208749062e-6), p: Some(-9.360811813123593e-6), i: Some(0.0), d: Some(-6.763675368649607e-8), output: -9.428448566810088e-6 }, PIDState { time: 10144.46, dt: 0.019999999998617568, error: Some(-6.254554160395331e-6), p: Some(-9.381831240592997e-6), i: Some(0.0), d: Some(-6.416430811896894e-8), output: -9.445995548711965e-6 }, PIDState { time: 10144.48, dt: 0.020000000000436557, error: Some(-6.2666807880001896e-6), p: Some(-9.400021182000284e-6), i: Some(0.0), d: Some(-5.953917127578961e-8), output: -9.459560353276074e-6 }, PIDState { time: 10144.5, dt: 0.020000000000436557, error: Some(-6.27685340487405e-6), p: Some(-9.415280107311075e-6), i: Some(0.0), d: Some(-5.381793593136081e-8), output: -9.469098043242436e-6 }, PIDState { time: 10144.52, dt: 0.020000000000436557, error: Some(-6.284918426982533e-6), p: Some(-9.4273776404738e-6), i: Some(0.0), d: Some(-4.718908606607698e-8), output: -9.474566726539877e-6 }, PIDState { time: 10144.54, dt: 0.020000000000436557, error: Some(-6.290610019998866e-6), p: Some(-9.435915029998299e-6), i: Some(0.0), d: Some(-3.981325474860387e-8), output: -9.475728284746903e-6 }, PIDState { time: 10144.56, dt: 0.019999999998617568, error: Some(-6.293612632934931e-6), p: Some(-9.440418949402396e-6), i: Some(0.0), d: Some(-3.1705142350285205e-8), output: -9.472124091752682e-6 }, PIDState { time: 10144.58, dt: 0.020000000000436557, error: Some(-6.29423446303623e-6), p: Some(-9.441351694554345e-6), i: Some(0.0), d: Some(-2.291947625343385e-8), output: -9.46427117080778e-6 }, PIDState { time: 10144.6, dt: 0.020000000000436557, error: Some(-6.292105181396335e-6), p: Some(-9.438157772094502e-6), i: Some(0.0), d: Some(-1.3644089462353394e-8), output: -9.451801861556856e-6 }, PIDState { time: 10144.62, dt: 0.020000000000436557, error: Some(-6.287450339689804e-6), p: Some(-9.431175509534706e-6), i: Some(0.0), d: Some(-4.0363175998272665e-9), output: -9.435211827134533e-6 }, PIDState { time: 10144.64, dt: 0.019999999998617568, error: Some(-6.2803460514071485e-6), p: Some(-9.420519077110723e-6), i: Some(0.0), d: Some(5.7095204884381604e-9), output: -9.414809556622285e-6 }, PIDState { time: 10144.66, dt: 0.020000000000436557, error: Some(-6.270803851446405e-6), p: Some(-9.406205777169607e-6), i: Some(0.0), d: Some(1.5377476794021985e-8), output: -9.390828300375586e-6 }, PIDState { time: 10144.68, dt: 0.020000000000436557, error: Some(-6.258970246947326e-6), p: Some(-9.38845537042099e-6), i: Some(0.0), d: Some(2.4837272602539613e-8), output: -9.36361809781845e-6 }, PIDState { time: 10144.7, dt: 0.020000000000436557, error: Some(-6.24484235584033e-6), p: Some(-9.367263533760495e-6), i: Some(0.0), d: Some(3.4014985854629075e-8), output: -9.333248547905866e-6 }, PIDState { time: 10144.72, dt: 0.019999999998617568, error: Some(-6.228864463719841e-6), p: Some(-9.343296695579761e-6), i: Some(0.0), d: Some(4.280822599416425e-8), output: -9.300488469585597e-6 }, PIDState { time: 10144.74, dt: 0.020000000000436557, error: Some(-6.211007056597384e-6), p: Some(-9.316510584896076e-6), i: Some(0.0), d: Some(5.1061889250363264e-8), output: -9.265448695645712e-6 }, PIDState { time: 10144.76, dt: 0.020000000000436557, error: Some(-6.19172550536673e-6), p: Some(-9.287588258050095e-6), i: Some(0.0), d: Some(5.864489467973685e-8), output: -9.228943363370358e-6 }, PIDState { time: 10144.78, dt: 0.020000000000436557, error: Some(-6.171625722251051e-6), p: Some(-9.257438583376576e-6), i: Some(0.0), d: Some(6.530790659058582e-8), output: -9.19213067678599e-6 }, PIDState { time: 10144.8, dt: 0.019999999998617568, error: Some(-6.150846249539099e-6), p: Some(-9.226269374308649e-6), i: Some(0.0), d: Some(7.073945800431152e-8), output: -9.155529916304337e-6 }, PIDState { time: 10144.82, dt: 0.020000000000436557, error: Some(-6.129955770831086e-6), p: Some(-9.194933656246629e-6), i: Some(0.0), d: Some(7.477603573324449e-8), output: -9.120157620513384e-6 }, PIDState { time: 10144.84, dt: 0.020000000000436557, error: Some(-6.109428819026097e-6), p: Some(-9.164143228539146e-6), i: Some(0.0), d: Some(7.728374748368772e-8), output: -9.086859481055458e-6 }, PIDState { time: 10144.86, dt: 0.020000000000436557, error: Some(-6.0895588701870285e-6), p: Some(-9.134338305280543e-6), i: Some(0.0), d: Some(7.81616799225795e-8), output: -9.056176625357963e-6 }, PIDState { time: 10144.88, dt: 0.019999999998617568, error: Some(-6.070938852562047e-6), p: Some(-9.10640827884307e-6), i: Some(0.0), d: Some(7.738942883710302e-8), output: -9.029018850005967e-6 }, PIDState { time: 10144.9, dt: 0.020000000000436557, error: Some(-6.053972063005397e-6), p: Some(-9.080958094508096e-6), i: Some(0.0), d: Some(7.492760082971127e-8), output: -9.006030493678385e-6 }, PIDState { time: 10144.92, dt: 0.020000000000436557, error: Some(-6.0392152514271435e-6), p: Some(-9.058822877140715e-6), i: Some(0.0), d: Some(7.072096456044302e-8), output: -8.988101912580272e-6 }, PIDState { time: 10144.94, dt: 0.020000000000436557, error: Some(-6.026963079205916e-6), p: Some(-9.040444618808874e-6), i: Some(0.0), d: Some(6.475928501016709e-8), output: -8.975685333798707e-6 }, PIDState { time: 10144.96, dt: 0.019999999998617568, error: Some(-6.01713405118387e-6), p: Some(-9.025701076775805e-6), i: Some(0.0), d: Some(5.724259222753444e-8), output: -8.968458484548271e-6 }, PIDState { time: 10144.98, dt: 0.020000000000436557, error: Some(-6.010235073572456e-6), p: Some(-9.015352610358685e-6), i: Some(0.0), d: Some(4.8511501525357105e-8), output: -8.966841108833328e-6 }, PIDState { time: 10145.0, dt: 0.020000000000436557, error: Some(-6.006188366533549e-6), p: Some(-9.009282549800324e-6), i: Some(0.0), d: Some(3.881812818477106e-8), output: -8.970464421615552e-6 }, PIDState { time: 10145.02, dt: 0.020000000000436557, error: Some(-6.0053094242812355e-6), p: Some(-9.007964136421853e-6), i: Some(0.0), d: Some(2.8357507722030746e-8), output: -8.979606628699823e-6 }, PIDState { time: 10145.04, dt: 0.020000000000436557, error: Some(-6.007592247669891e-6), p: Some(-9.011388371504836e-6), i: Some(0.0), d: Some(1.7278749960089682e-8), output: -8.994109621544746e-6 }, PIDState { time: 10145.06, dt: 0.019999999998617568, error: Some(-6.013211806030205e-6), p: Some(-9.019817709045308e-6), i: Some(0.0), d: Some(5.689162888237682e-9), output: -9.01412854615707e-6 }, PIDState { time: 10145.08, dt: 0.020000000000436557, error: Some(-6.02183689012159e-6), p: Some(-9.032755335182385e-6), i: Some(0.0), d: Some(-6.232344277384553e-9), output: -9.03898767945977e-6 }, PIDState { time: 10145.1, dt: 0.020000000000436557, error: Some(-6.033619484258068e-6), p: Some(-9.050429226387102e-6), i: Some(0.0), d: Some(-1.8237500209600146e-8), output: -9.068666726596702e-6 }, PIDState { time: 10145.12, dt: 0.020000000000436557, error: Some(-6.047929691929688e-6), p: Some(-9.071894537894531e-6), i: Some(0.0), d: Some(-3.003502028978992e-8), output: -9.101929558184322e-6 }, PIDState { time: 10145.14, dt: 0.019999999998617568, error: Some(-6.064803056995971e-6), p: Some(-9.097204585493956e-6), i: Some(0.0), d: Some(-4.128944910265738e-8), output: -9.138494034596614e-6 }, PIDState { time: 10145.16, dt: 0.020000000000436557, error: Some(-6.083795684785898e-6), p: Some(-9.125693527178846e-6), i: Some(0.0), d: Some(-5.1755206448165015e-8), output: -9.177448733627012e-6 }, PIDState { time: 10145.18, dt: 0.020000000000436557, error: Some(-6.104341856022488e-6), p: Some(-9.156512784033732e-6), i: Some(0.0), d: Some(-6.118503213596743e-8), output: -9.2176978161697e-6 }, PIDState { time: 10145.2, dt: 0.020000000000436557, error: Some(-6.126227014374708e-6), p: Some(-9.189340521562062e-6), i: Some(0.0), d: Some(-6.930360738339487e-8), output: -9.258644128945457e-6 }, PIDState { time: 10145.22, dt: 0.019999999998617568, error: Some(-6.148969507985269e-6), p: Some(-9.223454261977904e-6), i: Some(0.0), d: Some(-7.597759587503441e-8), output: -9.299431857852939e-6 }, PIDState { time: 10145.24, dt: 0.020000000000436557, error: Some(-6.172113393473899e-6), p: Some(-9.258170090210849e-6), i: Some(0.0), d: Some(-8.112845366026108e-8), output: -9.33929854387111e-6 }, PIDState { time: 10145.26, dt: 0.020000000000436557, error: Some(-6.195271818887349e-6), p: Some(-9.292907728331024e-6), i: Some(0.0), d: Some(-8.468436774117756e-8), output: -9.377592096072201e-6 }, PIDState { time: 10145.28, dt: 0.020000000000436557, error: Some(-6.217779486492048e-6), p: Some(-9.326669229738072e-6), i: Some(0.0), d: Some(-8.6566702908973e-8), output: -9.413235932647045e-6 }, PIDState { time: 10145.3, dt: 0.019999999998617568, error: Some(-6.235073500698851e-6), p: Some(-9.352610251048277e-6), i: Some(0.0), d: Some(-8.560590686344926e-8), output: -9.438216157911727e-6 }, PIDState { time: 10145.32, dt: 0.020000000000436557, error: Some(-6.246900379300313e-6), p: Some(-9.37035056895047e-6), i: Some(0.0), d: Some(-7.954547594058411e-8), output: -9.449896044891054e-6 }, PIDState { time: 10145.34, dt: 0.020000000000436557, error: Some(-6.256838995827296e-6), p: Some(-9.385258493740944e-6), i: Some(0.0), d: Some(-6.84527550416835e-8), output: -9.453711248782629e-6 }, PIDState { time: 10145.36, dt: 0.020000000000436557, error: Some(-6.264651355281092e-6), p: Some(-9.396977032921638e-6), i: Some(0.0), d: Some(-5.5399643699729645e-8), output: -9.452376676621367e-6 }, PIDState { time: 10145.38, dt: 0.019999999998617568, error: Some(-6.270199644525798e-6), p: Some(-9.405299466788697e-6), i: Some(0.0), d: Some(-4.2933217789418406e-8), output: -9.448232684578116e-6 }, PIDState { time: 10145.4, dt: 0.020000000000436557, error: Some(-6.273575303250567e-6), p: Some(-9.41036295487585e-6), i: Some(0.0), d: Some(-3.183982028085741e-8), output: -9.442202775156707e-6 }, PIDState { time: 10145.42, dt: 0.020000000000436557, error: Some(-6.274394503014147e-6), p: Some(-9.41159175452122e-6), i: Some(0.0), d: Some(-2.1987890432213672e-8), output: -9.433579644953434e-6 }, PIDState { time: 10145.44, dt: 0.020000000000436557, error: Some(-6.273085029526171e-6), p: Some(-9.409627544289256e-6), i: Some(0.0), d: Some(-1.292530303556646e-8), output: -9.422552847324824e-6 }, PIDState { time: 10145.46, dt: 0.019999999998617568, error: Some(-6.269555477875222e-6), p: Some(-9.404333216812832e-6), i: Some(0.0), d: Some(-4.348648121082766e-9), output: -9.408681864933914e-6 }, PIDState { time: 10145.48, dt: 0.020000000000436557, error: Some(-6.264156787116892e-6), p: Some(-9.396235180675339e-6), i: Some(0.0), d: Some(3.847696246411806e-9), output: -9.392387484428926e-6 }, PIDState { time: 10145.5, dt: 0.020000000000436557, error: Some(-6.2568796513201574e-6), p: Some(-9.385319476980236e-6), i: Some(0.0), d: Some(1.1657877142158547e-8), output: -9.373661599838077e-6 }, PIDState { time: 10145.52, dt: 0.020000000000436557, error: Some(-6.247830902889051e-6), p: Some(-9.371746354333577e-6), i: Some(0.0), d: Some(1.9072584905247184e-8), output: -9.35267376942833e-6 }, PIDState { time: 10145.54, dt: 0.020000000000436557, error: Some(-6.236949224067145e-6), p: Some(-9.355423836100718e-6), i: Some(0.0), d: Some(2.6158500194148844e-8), output: -9.32926533590657e-6 }, PIDState { time: 10145.56, dt: 0.019999999998617568, error: Some(-6.2244075717393654e-6), p: Some(-9.336611357609048e-6), i: Some(0.0), d: Some(3.299211084855315e-8), output: -9.303619246760495e-6 }, PIDState { time: 10145.58, dt: 0.020000000000436557, error: Some(-6.210686084973105e-6), p: Some(-9.316029127459657e-6), i: Some(0.0), d: Some(3.947962297065241e-8), output: -9.276549504489006e-6 }, PIDState { time: 10145.6, dt: 0.020000000000436557, error: Some(-6.19580386611307e-6), p: Some(-9.293705799169605e-6), i: Some(0.0), d: Some(4.538421086381639e-8), output: -9.248321588305788e-6 }, PIDState { time: 10145.62, dt: 0.020000000000436557, error: Some(-6.1797536733132485e-6), p: Some(-9.269630509969873e-6), i: Some(0.0), d: Some(5.0636110802512465e-8), output: -9.218994399167361e-6 }, PIDState { time: 10145.64, dt: 0.019999999998617568, error: Some(-6.1631534321038295e-6), p: Some(-9.244730148155744e-6), i: Some(0.0), d: Some(5.522515611318379e-8), output: -9.18950499204256e-6 }, PIDState { time: 10145.66, dt: 0.020000000000436557, error: Some(-6.146250467894965e-6), p: Some(-9.219375701842447e-6), i: Some(0.0), d: Some(5.89526537191169e-8), output: -9.16042304812333e-6 }, PIDState { time: 10145.68, dt: 0.020000000000436557, error: Some(-6.129167227419963e-6), p: Some(-9.193750841129944e-6), i: Some(0.0), d: Some(6.165663848845071e-8), output: -9.132094202641493e-6 }, PIDState { time: 10145.7, dt: 0.020000000000436557, error: Some(-6.112042540681872e-6), p: Some(-9.168063811022809e-6), i: Some(0.0), d: Some(6.338678789457446e-8), output: -9.104677023128234e-6 }, PIDState { time: 10145.72, dt: 0.019999999998617568, error: Some(-6.095277043330349e-6), p: Some(-9.142915564995524e-6), i: Some(0.0), d: Some(6.422381659602147e-8), output: -9.078691748399503e-6 }, PIDState { time: 10145.74, dt: 0.020000000000436557, error: Some(-6.07946509437185e-6), p: Some(-9.119197641557775e-6), i: Some(0.0), d: Some(6.405387361996218e-8), output: -9.055143767937812e-6 }, PIDState { time: 10145.76, dt: 0.020000000000436557, error: Some(-6.0645941323822505e-6), p: Some(-9.096891198573376e-6), i: Some(0.0), d: Some(6.270280225453611e-8), output: -9.03418839631884e-6 }, PIDState { time: 10145.78, dt: 0.020000000000436557, error: Some(-6.051092690487203e-6), p: Some(-9.076639035730805e-6), i: Some(0.0), d: Some(6.016501067408278e-8), output: -9.016474025056722e-6 }, PIDState { time: 10145.8, dt: 0.019999999998617568, error: Some(-6.039382891245837e-6), p: Some(-9.059074336868755e-6), i: Some(0.0), d: Some(5.643799010540106e-8), output: -9.002636346763355e-6 }, PIDState { time: 10145.82, dt: 0.020000000000436557, error: Some(-6.029410501623422e-6), p: Some(-9.044115752435133e-6), i: Some(0.0), d: Some(5.153334409713106e-8), output: -8.992582408338002e-6 }, PIDState { time: 10145.84, dt: 0.020000000000436557, error: Some(-6.021717980142505e-6), p: Some(-9.032576970213757e-6), i: Some(0.0), d: Some(4.555705029558935e-8), output: -8.987019919918168e-6 }, PIDState { time: 10145.86, dt: 0.020000000000436557, error: Some(-6.016390834640006e-6), p: Some(-9.02458625196001e-6), i: Some(0.0), d: Some(3.8559660763678136e-8), output: -8.986026591196332e-6 }, PIDState { time: 10145.88, dt: 0.019999999998617568, error: Some(-6.013527754464287e-6), p: Some(-9.020291631696431e-6), i: Some(0.0), d: Some(3.063211396846917e-8), output: -8.989659517727961e-6 }, PIDState { time: 10145.9, dt: 0.020000000000436557, error: Some(-6.013468154639212e-6), p: Some(-9.020202231958818e-6), i: Some(0.0), d: Some(2.1905509790055807e-8), output: -8.998296722168762e-6 }, PIDState { time: 10145.92, dt: 0.020000000000436557, error: Some(-6.0159400848830424e-6), p: Some(-9.023910127324564e-6), i: Some(0.0), d: Some(1.2521681630762866e-8), output: -9.0113884456938e-6 }, PIDState { time: 10145.94, dt: 0.020000000000436557, error: Some(-6.021110420528775e-6), p: Some(-9.031665630793162e-6), i: Some(0.0), d: Some(2.726025210251702e-9), output: -9.02893960558291e-6 }, PIDState { time: 10145.96, dt: 0.019999999998617568, error: Some(-6.0288264266683544e-6), p: Some(-9.043239640002532e-6), i: Some(0.0), d: Some(-7.24603722358871e-9), output: -9.050485677226121e-6 }, PIDState { time: 10145.98, dt: 0.020000000000436557, error: Some(-6.0387743410772465e-6), p: Some(-9.05816151161587e-6), i: Some(0.0), d: Some(-1.7135298003717178e-8), output: -9.075296809619587e-6 }, PIDState { time: 10146.0, dt: 0.020000000000436557, error: Some(-6.05093826785974e-6), p: Some(-9.07640740178961e-6), i: Some(0.0), d: Some(-2.665570416140724e-8), output: -9.103063105951018e-6 }, PIDState { time: 10146.02, dt: 0.020000000000436557, error: Some(-6.064847444392507e-6), p: Some(-9.09727116658876e-6), i: Some(0.0), d: Some(-3.558220409675107e-8), output: -9.132853370685513e-6 }, PIDState { time: 10146.04, dt: 0.020000000000436557, error: Some(-6.080465702884563e-6), p: Some(-9.120698554326845e-6), i: Some(0.0), d: Some(-4.373080902637994e-8), output: -9.164429363353225e-6 }, PIDState { time: 10146.06, dt: 0.019999999998617568, error: Some(-6.097372616309382e-6), p: Some(-9.146058924464073e-6), i: Some(0.0), d: Some(-5.099172985475654e-8), output: -9.19705065431883e-6 }, PIDState { time: 10146.08, dt: 0.020000000000436557, error: Some(-6.115443669685305e-6), p: Some(-9.173165504527958e-6), i: Some(0.0), d: Some(-5.7305815321599465e-8), output: -9.230471319849558e-6 }, PIDState { time: 10146.1, dt: 0.020000000000436557, error: Some(-6.134141034716545e-6), p: Some(-9.201211552074817e-6), i: Some(0.0), d: Some(-6.259873226533894e-8), output: -9.263810284340156e-6 }, PIDState { time: 10146.12, dt: 0.020000000000436557, error: Some(-6.1532504935096766e-6), p: Some(-9.229875740264515e-6), i: Some(0.0), d: Some(-6.67575485303947e-8), output: -9.29663328879491e-6 }, PIDState { time: 10146.14, dt: 0.019999999998617568, error: Some(-6.172262936157691e-6), p: Some(-9.258394404236536e-6), i: Some(0.0), d: Some(-6.96684432512179e-8), output: -9.328062847487754e-6 }, PIDState { time: 10146.16, dt: 0.020000000000436557, error: Some(-6.1908908169372445e-6), p: Some(-9.286336225405867e-6), i: Some(0.0), d: Some(-7.123665566107529e-8), output: -9.357572881066943e-6 }, PIDState { time: 10146.18, dt: 0.020000000000436557, error: Some(-6.208763508958048e-6), p: Some(-9.313145263437073e-6), i: Some(0.0), d: Some(-7.141734300837251e-8), output: -9.384562606445445e-6 }, PIDState { time: 10146.2, dt: 0.020000000000436557, error: Some(-6.225643659721336e-6), p: Some(-9.338465489582004e-6), i: Some(0.0), d: Some(-7.024609529063917e-8), output: -9.408711584872644e-6 }, PIDState { time: 10146.22, dt: 0.019999999998617568, error: Some(-6.241084065716773e-6), p: Some(-9.36162609857516e-6), i: Some(0.0), d: Some(-6.777542849003381e-8), output: -9.429401527065194e-6 }, PIDState { time: 10146.24, dt: 0.020000000000436557, error: Some(-6.254943076197672e-6), p: Some(-9.382414614296508e-6), i: Some(0.0), d: Some(-6.40555135555484e-8), output: -9.446470127852057e-6 }, PIDState { time: 10146.26, dt: 0.020000000000436557, error: Some(-6.26725290285568e-6), p: Some(-9.40087935428352e-6), i: Some(0.0), d: Some(-5.92674962831882e-8), output: -9.460146850566708e-6 }, PIDState { time: 10146.28, dt: 0.020000000000436557, error: Some(-6.277592002126853e-6), p: Some(-9.416388003190279e-6), i: Some(0.0), d: Some(-5.364818274220438e-8), output: -9.470036185932483e-6 }, PIDState { time: 10146.3, dt: 0.019999999998617568, error: Some(-6.285837863759247e-6), p: Some(-9.42875679563887e-6), i: Some(0.0), d: Some(-4.728352143105241e-8), output: -9.476040317069923e-6 }, PIDState { time: 10146.32, dt: 0.020000000000436557, error: Some(-6.291789520829205e-6), p: Some(-9.437684281243808e-6), i: Some(0.0), d: Some(-4.019065428826163e-8), output: -9.47787493553207e-6 }, PIDState { time: 10146.34, dt: 0.020000000000436557, error: Some(-6.295484256568784e-6), p: Some(-9.443226384853176e-6), i: Some(0.0), d: Some(-3.244991195817429e-8), output: -9.47567629681135e-6 }, PIDState { time: 10146.36, dt: 0.020000000000436557, error: Some(-6.296671201500015e-6), p: Some(-9.445006802250022e-6), i: Some(0.0), d: Some(-2.417383226738856e-8), output: -9.469180634517412e-6 }, PIDState { time: 10146.38, dt: 0.019999999998617568, error: Some(-6.295369795530914e-6), p: Some(-9.443054693296371e-6), i: Some(0.0), d: Some(-1.5440746337867964e-8), output: -9.458495439634239e-6 }, PIDState { time: 10146.4, dt: 0.020000000000436557, error: Some(-6.291711696346236e-6), p: Some(-9.437567544519354e-6), i: Some(0.0), d: Some(-6.385978743327294e-9), output: -9.443953523262682e-6 }, PIDState { time: 10146.42, dt: 0.020000000000436557, error: Some(-6.285843228676091e-6), p: Some(-9.428764843014137e-6), i: Some(0.0), d: Some(2.7392729010915937e-9), output: -9.426025570113044e-6 }, PIDState { time: 10146.44, dt: 0.020000000000436557, error: Some(-6.277838866156071e-6), p: Some(-9.416758299234107e-6), i: Some(0.0), d: Some(1.168612550951609e-8), output: -9.405072173724592e-6 }, PIDState { time: 10146.46, dt: 0.019999999998617568, error: Some(-6.267458980815932e-6), p: Some(-9.401188471223898e-6), i: Some(0.0), d: Some(2.038590000839149e-8), output: -9.380802571215507e-6 }, PIDState { time: 10146.48, dt: 0.020000000000436557, error: Some(-6.255047570458139e-6), p: Some(-9.382571355687208e-6), i: Some(0.0), d: Some(2.889228832900141e-8), output: -9.353679067358207e-6 }, PIDState { time: 10146.5, dt: 0.020000000000436557, error: Some(-6.2406225034977725e-6), p: Some(-9.360933755246659e-6), i: Some(0.0), d: Some(3.716169646210243e-8), output: -9.323772058784556e-6 }, PIDState { time: 10146.52, dt: 0.020000000000436557, error: Some(-6.224459411244276e-6), p: Some(-9.336689116866415e-6), i: Some(0.0), d: Some(4.507429139698416e-8), output: -9.29161482546943e-6 }, PIDState { time: 10146.54, dt: 0.020000000000436557, error: Some(-6.207013840381359e-6), p: Some(-9.310520760572039e-6), i: Some(0.0), d: Some(5.241768191879221e-8), output: -9.258103078653247e-6 }, PIDState { time: 10146.56, dt: 0.019999999998617568, error: Some(-6.188399535381195e-6), p: Some(-9.282599303071792e-6), i: Some(0.0), d: Some(5.892881282343921e-8), output: -9.223670490248352e-6 }, PIDState { time: 10146.58, dt: 0.020000000000436557, error: Some(-6.169044294693227e-6), p: Some(-9.25356644203984e-6), i: Some(0.0), d: Some(6.444266212360467e-8), output: -9.189123779916236e-6 }, PIDState { time: 10146.6, dt: 0.020000000000436557, error: Some(-6.149085977347202e-6), p: Some(-9.223628966020803e-6), i: Some(0.0), d: Some(6.888012171555626e-8), output: -9.154748844305246e-6 }, PIDState { time: 10146.62, dt: 0.020000000000436557, error: Some(-6.128968605842444e-6), p: Some(-9.193452908763666e-6), i: Some(0.0), d: Some(7.22086899445448e-8), output: -9.12124421881912e-6 }, PIDState { time: 10146.64, dt: 0.019999999998617568, error: Some(-6.109274353807703e-6), p: Some(-9.163911530711555e-6), i: Some(0.0), d: Some(7.430737742144514e-8), output: -9.08960415329011e-6 }, PIDState { time: 10146.66, dt: 0.020000000000436557, error: Some(-6.090104361325399e-6), p: Some(-9.135156541988099e-6), i: Some(0.0), d: Some(7.502565432969113e-8), output: -9.060130887658408e-6 }, PIDState { time: 10146.68, dt: 0.020000000000436557, error: Some(-6.0719106240725296e-6), p: Some(-9.107865936108794e-6), i: Some(0.0), d: Some(7.436107674606697e-8), output: -9.033504859362727e-6 }, PIDState { time: 10146.7, dt: 0.020000000000436557, error: Some(-6.0551584155355e-6), p: Some(-9.08273762330325e-6), i: Some(0.0), d: Some(7.231380949037123e-8), output: -9.010423813812878e-6 }, PIDState { time: 10146.72, dt: 0.019999999998617568, error: Some(-6.0405386928807925e-6), p: Some(-9.060808039321189e-6), i: Some(0.0), d: Some(6.873249258410211e-8), output: -8.992075546737087e-6 }, PIDState { time: 10146.74, dt: 0.020000000000436557, error: Some(-6.028049175391126e-6), p: Some(-9.042073763086689e-6), i: Some(0.0), d: Some(6.350188064694724e-8), output: -8.97857188243974e-6 }, PIDState { time: 10146.76, dt: 0.020000000000436557, error: Some(-6.018106269795043e-6), p: Some(-9.027159404692564e-6), i: Some(0.0), d: Some(5.6740452909437334e-8), output: -8.970418951783127e-6 }, PIDState { time: 10146.78, dt: 0.020000000000436557, error: Some(-6.010960788851993e-6), p: Some(-9.01644118327799e-6), i: Some(0.0), d: Some(4.863662995824494e-8), output: -8.967804553319745e-6 }, PIDState { time: 10146.8, dt: 0.019999999998617568, error: Some(-6.006984240566893e-6), p: Some(-9.010476360850339e-6), i: Some(0.0), d: Some(3.930420007512352e-8), output: -8.971172160775215e-6 }, PIDState { time: 10146.82, dt: 0.020000000000436557, error: Some(-6.006090265783803e-6), p: Some(-9.009135398675705e-6), i: Some(0.0), d: Some(2.889208825934887e-8), output: -8.980243310416355e-6 }, PIDState { time: 10146.84, dt: 0.020000000000436557, error: Some(-6.0083288414697344e-6), p: Some(-9.012493262204602e-6), i: Some(0.0), d: Some(1.7690164626807284e-8), output: -8.994803097577795e-6 }, PIDState { time: 10146.86, dt: 0.020000000000436557, error: Some(-6.013747393021629e-6), p: Some(-9.020621089532443e-6), i: Some(0.0), d: Some(6.015760409902321e-9), output: -9.014605329122541e-6 }, PIDState { time: 10146.88, dt: 0.019999999998617568, error: Some(-6.022048001610991e-6), p: Some(-9.033072002416487e-6), i: Some(0.0), d: Some(-5.83391882205165e-9), output: -9.038905921238539e-6 }, PIDState { time: 10146.9, dt: 0.020000000000436557, error: Some(-6.033227300500377e-6), p: Some(-9.049840950750565e-6), i: Some(0.0), d: Some(-1.7549316724071846e-8), output: -9.067390267474638e-6 }, PIDState { time: 10146.92, dt: 0.020000000000436557, error: Some(-6.047137732487218e-6), p: Some(-9.070706598730827e-6), i: Some(0.0), d: Some(-2.8924490194471895e-8), output: -9.099631088925298e-6 }, PIDState { time: 10146.94, dt: 0.020000000000436557, error: Some(-6.063344080223243e-6), p: Some(-9.095016120334865e-6), i: Some(0.0), d: Some(-3.978063094714667e-8), output: -9.134796751282012e-6 }, PIDState { time: 10146.96, dt: 0.019999999998617568, error: Some(-6.081571424357279e-6), p: Some(-9.122357136535919e-6), i: Some(0.0), d: Some(-4.985692130774296e-8), output: -9.172214057843661e-6 }, PIDState { time: 10146.98, dt: 0.020000000000436557, error: Some(-6.101379141823515e-6), p: Some(-9.152068712735273e-6), i: Some(0.0), d: Some(-5.889547948910531e-8), output: -9.210964192224378e-6 }, PIDState { time: 10147.0, dt: 0.020000000000436557, error: Some(-6.118118834733122e-6), p: Some(-9.177178252099683e-6), i: Some(0.0), d: Some(-6.560154698252696e-8), output: -9.242779799082209e-6 }, PIDState { time: 10147.02, dt: 0.020000000000436557, error: Some(-6.131445156140614e-6), p: Some(-9.19716773421092e-6), i: Some(0.0), d: Some(-6.751949161093946e-8), output: -9.26468722582186e-6 }, PIDState { time: 10147.04, dt: 0.020000000000436557, error: Some(-6.14544933337513e-6), p: Some(-9.218174000062695e-6), i: Some(0.0), d: Some(-6.461190465267731e-8), output: -9.282785904715374e-6 }, PIDState { time: 10147.06, dt: 0.019999999998617568, error: Some(-6.159380370129863e-6), p: Some(-9.239070555194795e-6), i: Some(0.0), d: Some(-5.995785739879826e-8), output: -9.299028412593593e-6 }, PIDState { time: 10147.08, dt: 0.020000000000436557, error: Some(-6.172995591927077e-6), p: Some(-9.259493387890616e-6), i: Some(0.0), d: Some(-5.589320670032415e-8), output: -9.31538659459094e-6 }, PIDState { time: 10147.1, dt: 0.020000000000436557, error: Some(-6.186034441996169e-6), p: Some(-9.279051662994253e-6), i: Some(0.0), d: Some(-5.284451413186287e-8), output: -9.331896177126116e-6 }, PIDState { time: 10147.12, dt: 0.020000000000436557, error: Some(-6.198328270520803e-6), p: Some(-9.297492405781205e-6), i: Some(0.0), d: Some(-5.047787111082799e-8), output: -9.347970276892034e-6 }, PIDState { time: 10147.14, dt: 0.019999999998617568, error: Some(-6.209335376775038e-6), p: Some(-9.314003065162557e-6), i: Some(0.0), d: Some(-4.8183149022751225e-8), output: -9.362186214185308e-6 }, PIDState { time: 10147.16, dt: 0.020000000000436557, error: Some(-6.219236599422362e-6), p: Some(-9.328854899133543e-6), i: Some(0.0), d: Some(-4.541810897817353e-8), output: -9.374273008111717e-6 }, PIDState { time: 10147.18, dt: 0.020000000000436557, error: Some(-6.228092029339494e-6), p: Some(-9.34213804400924e-6), i: Some(0.0), d: Some(-4.2055477815207343e-8), output: -9.384193521824447e-6 }, PIDState { time: 10147.2, dt: 0.020000000000436557, error: Some(-6.235493790487934e-6), p: Some(-9.3532406857319e-6), i: Some(0.0), d: Some(-3.81769297437885e-8), output: -9.391417615475689e-6 }, PIDState { time: 10147.22, dt: 0.019999999998617568, error: Some(-6.241216979799291e-6), p: Some(-9.361825469698937e-6), i: Some(0.0), d: Some(-3.3707344411227596e-8), output: -9.395532814110165e-6 }, PIDState { time: 10147.24, dt: 0.020000000000436557, error: Some(-6.245487073980316e-6), p: Some(-9.368230610970474e-6), i: Some(0.0), d: Some(-2.8615265353691677e-8), output: -9.396845876324166e-6 }, PIDState { time: 10147.26, dt: 0.020000000000436557, error: Some(-6.2478714004804425e-6), p: Some(-9.371807100720664e-6), i: Some(0.0), d: Some(-2.300340265235265e-8), output: -9.394810503373016e-6 }, PIDState { time: 10147.28, dt: 0.020000000000436557, error: Some(-6.248741126216317e-6), p: Some(-9.373111689324476e-6), i: Some(0.0), d: Some(-1.6986433784892314e-8), output: -9.390098123109369e-6 }, PIDState { time: 10147.3, dt: 0.019999999998617568, error: Some(-6.24811333826969e-6), p: Some(-9.372170007404534e-6), i: Some(0.0), d: Some(-1.0803657365738722e-8), output: -9.382973664770274e-6 }, PIDState { time: 10147.32, dt: 0.020000000000436557, error: Some(-6.245953685854455e-6), p: Some(-9.368930528781683e-6), i: Some(0.0), d: Some(-4.6924393121142025e-9), output: -9.373622968093798e-6 }, PIDState { time: 10147.34, dt: 0.020000000000436557, error: Some(-6.242396399777639e-6), p: Some(-9.363594599666458e-6), i: Some(0.0), d: Some(1.2476449004864957e-9), output: -9.362346954765971e-6 }, PIDState { time: 10147.36, dt: 0.020000000000436557, error: Some(-6.237231391439946e-6), p: Some(-9.355847087159919e-6), i: Some(0.0), d: Some(7.01558928150522e-9), output: -9.348831497878413e-6 }, PIDState { time: 10147.38, dt: 0.019999999998617568, error: Some(-6.230225529507694e-6), p: Some(-9.34533829426154e-6), i: Some(0.0), d: Some(1.2788730003106385e-8), output: -9.332549564258435e-6 }, PIDState { time: 10147.4, dt: 0.020000000000436557, error: Some(-6.2217278586768066e-6), p: Some(-9.33259178801521e-6), i: Some(0.0), d: Some(1.8721664213498333e-8), output: -9.31387012380171e-6 }, PIDState { time: 10147.42, dt: 0.020000000000436557, error: Some(-6.21189678856604e-6), p: Some(-9.31784518284906e-6), i: Some(0.0), d: Some(2.467740882244353e-8), output: -9.293167774026618e-6 }, PIDState { time: 10147.44, dt: 0.020000000000436557, error: Some(-6.201065719885213e-6), p: Some(-9.301598579827819e-6), i: Some(0.0), d: Some(3.034049099912417e-8), output: -9.271258088828695e-6 }, PIDState { time: 10147.46, dt: 0.019999999998617568, error: Some(-6.18935800399123e-6), p: Some(-9.284037005986845e-6), i: Some(0.0), d: Some(3.541970379597252e-8), output: -9.248617302190872e-6 }, PIDState { time: 10147.48, dt: 0.020000000000436557, error: Some(-6.17645050046689e-6), p: Some(-9.264675750700335e-6), i: Some(0.0), d: Some(3.9887376122843136e-8), output: -9.224788374577492e-6 }, PIDState { time: 10147.5, dt: 0.020000000000436557, error: Some(-6.162625875244521e-6), p: Some(-9.243938812866781e-6), i: Some(0.0), d: Some(4.395786825317204e-8), output: -9.19998094461361e-6 }, PIDState { time: 10147.52, dt: 0.020000000000436557, error: Some(-6.148164505087594e-6), p: Some(-9.222246757631392e-6), i: Some(0.0), d: Some(4.7694648608100985e-8), output: -9.17455210902329e-6 }, PIDState { time: 10147.54, dt: 0.020000000000436557, error: Some(-6.133196353175219e-6), p: Some(-9.199794529762828e-6), i: Some(0.0), d: Some(5.096773530971394e-8), output: -9.148826794453113e-6 }, PIDState { time: 10147.56, dt: 0.019999999998617568, error: Some(-6.11832262427392e-6), p: Some(-9.17748393641088e-6), i: Some(0.0), d: Some(5.355983323832889e-8), output: -9.123924103172552e-6 }, PIDState { time: 10147.58, dt: 0.020000000000436557, error: Some(-6.103812176944112e-6), p: Some(-9.155718265416168e-6), i: Some(0.0), d: Some(5.515994464008088e-8), output: -9.100558320776087e-6 }, PIDState { time: 10147.6, dt: 0.020000000000436557, error: Some(-6.0897850082397564e-6), p: Some(-9.134677512359635e-6), i: Some(0.0), d: Some(5.5588895347185125e-8), output: -9.07908861701245e-6 }, PIDState { time: 10147.62, dt: 0.020000000000436557, error: Some(-6.076693327680682e-6), p: Some(-9.115039991521023e-6), i: Some(0.0), d: Some(5.4845618154734044e-8), output: -9.060194373366289e-6 }, PIDState { time: 10147.64, dt: 0.019999999998617568, error: Some(-6.0648329326534745e-6), p: Some(-9.097249398980212e-6), i: Some(0.0), d: Some(5.2912006734644195e-8), output: -9.044337392245568e-6 }, PIDState { time: 10147.66, dt: 0.020000000000436557, error: Some(-6.054478027761601e-6), p: Some(-9.081717041642401e-6), i: Some(0.0), d: Some(4.9768364094386135e-8), output: -9.031948677548014e-6 }, PIDState { time: 10147.68, dt: 0.020000000000436557, error: Some(-6.046000011417085e-6), p: Some(-9.069000017125628e-6), i: Some(0.0), d: Some(4.542555511904324e-8), output: -9.023574462006584e-6 }, PIDState { time: 10147.7, dt: 0.020000000000436557, error: Some(-6.039373852934071e-6), p: Some(-9.059060779401107e-6), i: Some(0.0), d: Some(3.9960698997602675e-8), output: -9.019100080403505e-6 }, PIDState { time: 10147.72, dt: 0.019999999998617568, error: Some(-6.034984792790965e-6), p: Some(-9.052477189186448e-6), i: Some(0.0), d: Some(3.3529648724604734e-8), output: -9.018947540461843e-6 }, PIDState { time: 10147.74, dt: 0.020000000000436557, error: Some(-6.032744034351056e-6), p: Some(-9.049116051526584e-6), i: Some(0.0), d: Some(2.629133490487003e-8), output: -9.022824716621715e-6 }, PIDState { time: 10147.76, dt: 0.020000000000436557, error: Some(-6.032834211244786e-6), p: Some(-9.04925131686718e-6), i: Some(0.0), d: Some(1.8430456714491852e-8), output: -9.030820860152688e-6 }, PIDState { time: 10147.78, dt: 0.020000000000436557, error: Some(-6.035461158945821e-6), p: Some(-9.053191738418731e-6), i: Some(0.0), d: Some(1.0069236425839339e-8), output: -9.043122501992892e-6 }, PIDState { time: 10147.8, dt: 0.019999999998617568, error: Some(-6.0404676708453175e-6), p: Some(-9.060701506267976e-6), i: Some(0.0), d: Some(1.2825633307170042e-9), output: -9.05941894293726e-6 }, PIDState { time: 10147.82, dt: 0.020000000000436557, error: Some(-6.047564118247251e-6), p: Some(-9.071346177370876e-6), i: Some(0.0), d: Some(-7.683122792766669e-9), output: -9.079029300163643e-6 }, PIDState { time: 10147.84, dt: 0.020000000000436557, error: Some(-6.056880937271858e-6), p: Some(-9.085321405907787e-6), i: Some(0.0), d: Some(-1.652449055598679e-8), output: -9.101845896463774e-6 }, PIDState { time: 10147.86, dt: 0.020000000000436557, error: Some(-6.068091621166949e-6), p: Some(-9.102137431750423e-6), i: Some(0.0), d: Some(-2.5060001579683684e-8), output: -9.127197433330107e-6 }, PIDState { time: 10147.88, dt: 0.019999999998617568, error: Some(-6.081042823846694e-6), p: Some(-9.121564235770041e-6), i: Some(0.0), d: Some(-3.3126263373811524e-8), output: -9.154690499143853e-6 }, PIDState { time: 10147.9, dt: 0.020000000000436557, error: Some(-6.09545736242334e-6), p: Some(-9.14318604363501e-6), i: Some(0.0), d: Some(-4.0552152884939624e-8), output: -9.18373819651995e-6 }, PIDState { time: 10147.92, dt: 0.020000000000436557, error: Some(-6.111035584052682e-6), p: Some(-9.166553376079023e-6), i: Some(0.0), d: Some(-4.718499597230868e-8), output: -9.213738372051331e-6 }, PIDState { time: 10147.94, dt: 0.020000000000436557, error: Some(-6.12754777754021e-6), p: Some(-9.191321666310315e-6), i: Some(0.0), d: Some(-5.289592787368568e-8), output: -9.244217594184e-6 }, PIDState { time: 10147.96, dt: 0.019999999998617568, error: Some(-6.144795785839596e-6), p: Some(-9.217193678759394e-6), i: Some(0.0), d: Some(-5.763836523101112e-8), output: -9.274832043990406e-6 }, PIDState { time: 10147.98, dt: 0.020000000000436557, error: Some(-6.162601310949478e-6), p: Some(-9.243901966424217e-6), i: Some(0.0), d: Some(-6.145093917311672e-8), output: -9.305352905597333e-6 }, PIDState { time: 10148.0, dt: 0.020000000000436557, error: Some(-6.180535366620554e-6), p: Some(-9.270803049930831e-6), i: Some(0.0), d: Some(-6.435164946225545e-8), output: -9.335154699393086e-6 }, PIDState { time: 10148.02, dt: 0.020000000000436557, error: Some(-6.198015560995862e-6), p: Some(-9.297023341493793e-6), i: Some(0.0), d: Some(-6.61845140462545e-8), output: -9.363207855540048e-6 }, PIDState { time: 10148.04, dt: 0.020000000000436557, error: Some(-6.2146805740737054e-6), p: Some(-9.322020861110558e-6), i: Some(0.0), d: Some(-6.667871635094223e-8), output: -9.388699577461501e-6 }, PIDState { time: 10148.06, dt: 0.019999999998617568, error: Some(-6.230369573090311e-6), p: Some(-9.345554359635466e-6), i: Some(0.0), d: Some(-6.571286106658462e-8), output: -9.411267220702051e-6 }, PIDState { time: 10148.08, dt: 0.020000000000436557, error: Some(-6.245099983898106e-6), p: Some(-9.367649975847159e-6), i: Some(0.0), d: Some(-6.346243217120889e-8), output: -9.431112408018367e-6 }, PIDState { time: 10148.1, dt: 0.020000000000436557, error: Some(-6.258412779611144e-6), p: Some(-9.387619169416717e-6), i: Some(0.0), d: Some(-6.019849279573617e-8), output: -9.447817662212453e-6 }, PIDState { time: 10148.12, dt: 0.020000000000436557, error: Some(-6.270212408038267e-6), p: Some(-9.4053186120574e-6), i: Some(0.0), d: Some(-5.605441372186472e-8), output: -9.461373025779265e-6 }, PIDState { time: 10148.14, dt: 0.019999999998617568, error: Some(-6.2803809824096835e-6), p: Some(-9.420571473614525e-6), i: Some(0.0), d: Some(-5.1128455134547e-8), output: -9.471699928749072e-6 }, PIDState { time: 10148.16, dt: 0.020000000000436557, error: Some(-6.288361573125734e-6), p: Some(-9.4325423596886e-6), i: Some(0.0), d: Some(-4.5447455917728e-8), output: -9.477989815606329e-6 }, PIDState { time: 10148.18, dt: 0.020000000000436557, error: Some(-6.2938973332954395e-6), p: Some(-9.44084599994316e-6), i: Some(0.0), d: Some(-3.8849670716066124e-8), output: -9.479695670659225e-6 }, PIDState { time: 10148.2, dt: 0.020000000000436557, error: Some(-6.297322062420729e-6), p: Some(-9.445983093631094e-6), i: Some(0.0), d: Some(-3.1329314015766284e-8), output: -9.47731240764686e-6 }, PIDState { time: 10148.22, dt: 0.019999999998617568, error: Some(-6.298505343352301e-6), p: Some(-9.447758015028451e-6), i: Some(0.0), d: Some(-2.32038395730656e-8), output: -9.470961854601517e-6 }, PIDState { time: 10148.24, dt: 0.020000000000436557, error: Some(-6.297401908106348e-6), p: Some(-9.446102862159522e-6), i: Some(0.0), d: Some(-1.477457254465456e-8), output: -9.460877434704176e-6 }, PIDState { time: 10148.26, dt: 0.020000000000436557, error: Some(-6.293846960270244e-6), p: Some(-9.440770440405366e-6), i: Some(0.0), d: Some(-6.150291942238571e-9), output: -9.446920732347604e-6 }, PIDState { time: 10148.28, dt: 0.020000000000436557, error: Some(-6.28792377764531e-6), p: Some(-9.431885666467965e-6), i: Some(0.0), d: Some(2.645237355959119e-9), output: -9.429240429112006e-6 }, PIDState { time: 10148.3, dt: 0.019999999998617568, error: Some(-6.279825275748441e-6), p: Some(-9.419737913622661e-6), i: Some(0.0), d: Some(1.1506754275920246e-8), output: -9.40823115934674e-6 }, PIDState { time: 10148.32, dt: 0.020000000000436557, error: Some(-6.269309158632441e-6), p: Some(-9.403963737948662e-6), i: Some(0.0), d: Some(2.0315628051852682e-8), output: -9.38364810989681e-6 }, PIDState { time: 10148.34, dt: 0.020000000000436557, error: Some(-6.256677930624455e-6), p: Some(-9.385016895936682e-6), i: Some(0.0), d: Some(2.9034352940060985e-8), output: -9.355982542996621e-6 }, PIDState { time: 10148.36, dt: 0.020000000000436557, error: Some(-6.242093486846789e-6), p: Some(-9.363140230270184e-6), i: Some(0.0), d: Some(3.7539067211139606e-8), output: -9.325601163059043e-6 }, PIDState { time: 10148.38, dt: 0.019999999998617568, error: Some(-6.225677620763648e-6), p: Some(-9.338516431145472e-6), i: Some(0.0), d: Some(4.564715081641316e-8), output: -9.292869280329058e-6 }, PIDState { time: 10148.4, dt: 0.020000000000436557, error: Some(-6.207711636452284e-6), p: Some(-9.311567454678427e-6), i: Some(0.0), d: Some(5.321650966680838e-8), output: -9.258350945011617e-6 }, PIDState { time: 10148.42, dt: 0.020000000000436557, error: Some(-6.18876080363262e-6), p: Some(-9.28314120544893e-6), i: Some(0.0), d: Some(6.001773295513261e-8), output: -9.223123472493798e-6 }, PIDState { time: 10148.44, dt: 0.020000000000436557, error: Some(-6.168784131371785e-6), p: Some(-9.253176197057678e-6), i: Some(0.0), d: Some(6.581661156729536e-8), output: -9.187359585490382e-6 }, PIDState { time: 10148.46, dt: 0.019999999998617568, error: Some(-6.148230096397755e-6), p: Some(-9.222345144596633e-6), i: Some(0.0), d: Some(7.0551220721908e-8), output: -9.151793923874724e-6 }, PIDState { time: 10148.48, dt: 0.020000000000436557, error: Some(-6.127866290062123e-6), p: Some(-9.191799435093184e-6), i: Some(0.0), d: Some(7.407247033375964e-8), output: -9.117726964759424e-6 }, PIDState { time: 10148.5, dt: 0.020000000000436557, error: Some(-6.108100156054785e-6), p: Some(-9.162150234082178e-6), i: Some(0.0), d: Some(7.604135886756323e-8), output: -9.086108875214616e-6 }, PIDState { time: 10148.52, dt: 0.020000000000436557, error: Some(-6.089399676306728e-6), p: Some(-9.134099514460092e-6), i: Some(0.0), d: Some(7.621812675603107e-8), output: -9.057881387704061e-6 }, PIDState { time: 10148.54, dt: 0.020000000000436557, error: Some(-6.072175590121631e-6), p: Some(-9.108263385182447e-6), i: Some(0.0), d: Some(7.454362861299495e-8), output: -9.033719756569452e-6 }, PIDState { time: 10148.56, dt: 0.019999999998617568, error: Some(-6.05659234907685e-6), p: Some(-9.084888523615275e-6), i: Some(0.0), d: Some(7.112518211388085e-8), output: -9.013763341501394e-6 }, PIDState { time: 10148.58, dt: 0.020000000000436557, error: Some(-6.042754789534199e-6), p: Some(-9.064132184301299e-6), i: Some(0.0), d: Some(6.626402513939813e-8), output: -8.9978681591619e-6 }, PIDState { time: 10148.6, dt: 0.020000000000436557, error: Some(-6.0311213151559295e-6), p: Some(-9.046681972733894e-6), i: Some(0.0), d: Some(6.02631889064002e-8), output: -8.986418783827495e-6 }, PIDState { time: 10148.62, dt: 0.020000000000436557, error: Some(-6.022092766344578e-6), p: Some(-9.033139149516867e-6), i: Some(0.0), d: Some(5.3195446977054335e-8), output: -8.979943702539812e-6 }, PIDState { time: 10148.64, dt: 0.019999999998617568, error: Some(-6.015916629006912e-6), p: Some(-9.023874943510368e-6), i: Some(0.0), d: Some(4.499736316789423e-8), output: -8.978877580342474e-6 }, PIDState { time: 10148.66, dt: 0.020000000000436557, error: Some(-6.010279464355173e-6), p: Some(-9.015419196532759e-6), i: Some(0.0), d: Some(3.630633994999797e-8), output: -8.97911285658276e-6 }, PIDState { time: 10148.68, dt: 0.020000000000436557, error: Some(-6.004966264017142e-6), p: Some(-9.007449396025713e-6), i: Some(0.0), d: Some(2.868069047267513e-8), output: -8.978768705553038e-6 }, PIDState { time: 10148.7, dt: 0.020000000000436557, error: Some(-6.0027523027805785e-6), p: Some(-9.004128454170868e-6), i: Some(0.0), d: Some(2.246817966413415e-8), output: -8.981660274506734e-6 }, PIDState { time: 10148.72, dt: 0.019999999998617568, error: Some(-6.003491015635354e-6), p: Some(-9.00523652345303e-6), i: Some(0.0), d: Some(1.6118481533223215e-8), output: -8.989118041919807e-6 }, PIDState { time: 10148.74, dt: 0.020000000000436557, error: Some(-6.006915007655822e-6), p: Some(-9.010372511483733e-6), i: Some(0.0), d: Some(8.46839797282975e-9), output: -9.001904113510902e-6 }, PIDState { time: 10148.76, dt: 0.020000000000436557, error: Some(-6.0130116477929985e-6), p: Some(-9.019517471689498e-6), i: Some(0.0), d: Some(-4.358208416872292e-10), output: -9.019953292531185e-6 }, PIDState { time: 10148.78, dt: 0.020000000000436557, error: Some(-6.021775128248197e-6), p: Some(-9.032662692372295e-6), i: Some(0.0), d: Some(-1.0161191769916714e-8), output: -9.042823884142212e-6 }, PIDState { time: 10148.8, dt: 0.019999999998617568, error: Some(-6.0331778805600145e-6), p: Some(-9.049766820840022e-6), i: Some(0.0), d: Some(-2.029430750927817e-8), output: -9.0700611283493e-6 }, PIDState { time: 10148.82, dt: 0.020000000000436557, error: Some(-6.046970921533279e-6), p: Some(-9.070456382299918e-6), i: Some(0.0), d: Some(-3.047609618526357e-8), output: -9.100932478485182e-6 }, PIDState { time: 10148.84, dt: 0.020000000000436557, error: Some(-6.062570266182621e-6), p: Some(-9.093855399273931e-6), i: Some(0.0), d: Some(-4.0264538259126114e-8), output: -9.134119937533057e-6 }, PIDState { time: 10148.86, dt: 0.020000000000436557, error: Some(-6.080058907856345e-6), p: Some(-9.120088361784517e-6), i: Some(0.0), d: Some(-4.9245865723172136e-8), output: -9.16933422750769e-6 }, PIDState { time: 10148.88, dt: 0.019999999998617568, error: Some(-6.09902938619733e-6), p: Some(-9.148544079295995e-6), i: Some(0.0), d: Some(-5.725824526541132e-8), output: -9.205802324561405e-6 }, PIDState { time: 10148.9, dt: 0.020000000000436557, error: Some(-6.119001267512747e-6), p: Some(-9.17850190126912e-6), i: Some(0.0), d: Some(-6.418963885719876e-8), output: -9.24269154012632e-6 }, PIDState { time: 10148.92, dt: 0.020000000000436557, error: Some(-6.139658029924444e-6), p: Some(-9.209487044886666e-6), i: Some(0.0), d: Some(-6.985927488155839e-8), output: -9.279346319768224e-6 }, PIDState { time: 10148.94, dt: 0.020000000000436557, error: Some(-6.16076783213626e-6), p: Some(-9.24115174820439e-6), i: Some(0.0), d: Some(-7.419267115841806e-8), output: -9.315344419362808e-6 }, PIDState { time: 10148.96, dt: 0.019999999998617568, error: Some(-6.181492027856894e-6), p: Some(-9.272238041785341e-6), i: Some(0.0), d: Some(-7.71101269258783e-8), output: -9.34934816871122e-6 }, PIDState { time: 10148.98, dt: 0.020000000000436557, error: Some(-6.201518857107402e-6), p: Some(-9.302278285661103e-6), i: Some(0.0), d: Some(-7.839900091657807e-8), output: -9.38067728657768e-6 }, PIDState { time: 10149.0, dt: 0.020000000000436557, error: Some(-6.22054003043826e-6), p: Some(-9.33081004565739e-6), i: Some(0.0), d: Some(-7.796309056794339e-8), output: -9.408773136225332e-6 }, PIDState { time: 10149.02, dt: 0.020000000000436557, error: Some(-6.238438569602933e-6), p: Some(-9.3576578544044e-6), i: Some(0.0), d: Some(-7.596364592113071e-8), output: -9.433621500325531e-6 }, PIDState { time: 10149.04, dt: 0.020000000000436557, error: Some(-6.254494656077192e-6), p: Some(-9.381741984115788e-6), i: Some(0.0), d: Some(-7.256985739996679e-8), output: -9.454311841515754e-6 }, PIDState { time: 10149.06, dt: 0.019999999998617568, error: Some(-6.268514373866663e-6), p: Some(-9.402771560799994e-6), i: Some(0.0), d: Some(-6.778498085131516e-8), output: -9.470556541651308e-6 }, PIDState { time: 10149.08, dt: 0.020000000000436557, error: Some(-6.280217837537072e-6), p: Some(-9.420326756305608e-6), i: Some(0.0), d: Some(-6.163471785511477e-8), output: -9.481961474160723e-6 }, PIDState { time: 10149.1, dt: 0.020000000000436557, error: Some(-6.289692509153788e-6), p: Some(-9.434538763730682e-6), i: Some(0.0), d: Some(-5.4329561743865254e-8), output: -9.488868325474547e-6 }, PIDState { time: 10149.12, dt: 0.020000000000436557, error: Some(-6.29696472913277e-6), p: Some(-9.445447093699155e-6), i: Some(0.0), d: Some(-4.62481312893845e-8), output: -9.49169522498854e-6 }, PIDState { time: 10149.14, dt: 0.019999999998617568, error: Some(-6.301464155741843e-6), p: Some(-9.452196233612764e-6), i: Some(0.0), d: Some(-3.7647354199584156e-8), output: -9.489843587812349e-6 }, PIDState { time: 10149.16, dt: 0.020000000000436557, error: Some(-6.303177449193398e-6), p: Some(-9.454766173790097e-6), i: Some(0.0), d: Some(-2.8488165730636538e-8), output: -9.483254339520733e-6 }, PIDState { time: 10149.18, dt: 0.020000000000436557, error: Some(-6.3019274580411455e-6), p: Some(-9.452891187061718e-6), i: Some(0.0), d: Some(-1.8709278444857957e-8), output: -9.471600465506576e-6 }, PIDState { time: 10149.2, dt: 0.020000000000436557, error: Some(-6.297676889907566e-6), p: Some(-9.44651533486135e-6), i: Some(0.0), d: Some(-8.350169327369912e-9), output: -9.454865504188719e-6 }, PIDState { time: 10149.22, dt: 0.019999999998617568, error: Some(-6.290606670220078e-6), p: Some(-9.435910005330117e-6), i: Some(0.0), d: Some(2.4342214683482374e-9), output: -9.433475783861769e-6 }, PIDState { time: 10149.24, dt: 0.020000000000436557, error: Some(-6.281093984011887e-6), p: Some(-9.421640976017831e-6), i: Some(0.0), d: Some(1.3287673302665707e-8), output: -9.408353302715165e-6 }, PIDState { time: 10149.26, dt: 0.020000000000436557, error: Some(-6.269297047403755e-6), p: Some(-9.403945571105632e-6), i: Some(0.0), d: Some(2.376789188151101e-8), output: -9.38017767922412e-6 }, PIDState { time: 10149.28, dt: 0.020000000000436557, error: Some(-6.255084169834446e-6), p: Some(-9.38262625475167e-6), i: Some(0.0), d: Some(3.3650860167553265e-8), output: -9.348975394584117e-6 }, PIDState { time: 10149.3, dt: 0.019999999998617568, error: Some(-6.238919156548173e-6), p: Some(-9.358378734822259e-6), i: Some(0.0), d: Some(4.291453364290688e-8), output: -9.315464201179352e-6 }, PIDState { time: 10149.32, dt: 0.020000000000436557, error: Some(-6.220773807671942e-6), p: Some(-9.331160711507913e-6), i: Some(0.0), d: Some(5.1522710712916647e-8), output: -9.279638000794997e-6 }, PIDState { time: 10149.34, dt: 0.020000000000436557, error: Some(-6.20108725507551e-6), p: Some(-9.301630882613265e-6), i: Some(0.0), d: Some(5.9423176286564863e-8), output: -9.2422077063267e-6 }, PIDState { time: 10149.36, dt: 0.020000000000436557, error: Some(-6.1802964814450245e-6), p: Some(-9.270444722167537e-6), i: Some(0.0), d: Some(6.645976358300129e-8), output: -9.203984958584535e-6 }, PIDState { time: 10149.38, dt: 0.019999999998617568, error: Some(-6.158810357564937e-6), p: Some(-9.238215536347405e-6), i: Some(0.0), d: Some(7.236551495369848e-8), output: -9.165850021393707e-6 }, PIDState { time: 10149.4, dt: 0.020000000000436557, error: Some(-6.136810395462877e-6), p: Some(-9.205215593194316e-6), i: Some(0.0), d: Some(7.697204680310341e-8), output: -9.128243546391213e-6 }, PIDState { time: 10149.42, dt: 0.020000000000436557, error: Some(-6.114728154579807e-6), p: Some(-9.17209223186971e-6), i: Some(0.0), d: Some(8.025598445489788e-8), output: -9.091836247414812e-6 }, PIDState { time: 10149.44, dt: 0.020000000000436557, error: Some(-6.093297759829364e-6), p: Some(-9.139946639744045e-6), i: Some(0.0), d: Some(8.211459337814039e-8), output: -9.057832046365905e-6 }, PIDState { time: 10149.46, dt: 0.019999999998617568, error: Some(-6.073125356928499e-6), p: Some(-9.109688035392749e-6), i: Some(0.0), d: Some(8.225614881400795e-8), output: -9.027431886578741e-6 }, PIDState { time: 10149.48, dt: 0.020000000000436557, error: Some(-6.054342962913406e-6), p: Some(-9.081514444370109e-6), i: Some(0.0), d: Some(8.049776869609488e-8), output: -9.001016675674014e-6 }, PIDState { time: 10149.5, dt: 0.020000000000436557, error: Some(-6.037710086323478e-6), p: Some(-9.056565129485217e-6), i: Some(0.0), d: Some(7.6864360213282e-8), output: -8.979700769271934e-6 }, PIDState { time: 10149.52, dt: 0.020000000000436557, error: Some(-6.023444541924938e-6), p: Some(-9.035166812887407e-6), i: Some(0.0), d: Some(7.139938836157204e-8), output: -8.963767424525836e-6 }, PIDState { time: 10149.54, dt: 0.020000000000436557, error: Some(-6.0121092978621116e-6), p: Some(-9.018163946793167e-6), i: Some(0.0), d: Some(6.4170264237385e-8), output: -8.953993682555783e-6 }, PIDState { time: 10149.56, dt: 0.019999999998617568, error: Some(-6.0037643482974135e-6), p: Some(-9.00564652244612e-6), i: Some(0.0), d: Some(5.5325733185095174e-8), output: -8.950320789261025e-6 }, PIDState { time: 10149.58, dt: 0.020000000000436557, error: Some(-5.9986319417282274e-6), p: Some(-8.997947912592341e-6), i: Some(0.0), d: Some(4.5134090188330835e-8), output: -8.95281382240401e-6 }, PIDState { time: 10149.6, dt: 0.020000000000436557, error: Some(-5.996899393373445e-6), p: Some(-8.995349090060167e-6), i: Some(0.0), d: Some(3.389456962724435e-8), output: -8.961454520432923e-6 }, PIDState { time: 10149.62, dt: 0.020000000000436557, error: Some(-5.998432734036219e-6), p: Some(-8.997649101054328e-6), i: Some(0.0), d: Some(2.1896339007738273e-8), output: -8.97575276204659e-6 }, PIDState { time: 10149.64, dt: 0.019999999998617568, error: Some(-6.003249765462737e-6), p: Some(-9.004874648194106e-6), i: Some(0.0), d: Some(9.479374258002866e-9), output: -8.995395273936103e-6 }, PIDState { time: 10149.66, dt: 0.020000000000436557, error: Some(-6.011478183132191e-6), p: Some(-9.017217274698286e-6), i: Some(0.0), d: Some(-3.110417896385613e-9), output: -9.020327692594671e-6 }, PIDState { time: 10149.68, dt: 0.020000000000436557, error: Some(-6.022813057157683e-6), p: Some(-9.034219585736525e-6), i: Some(0.0), d: Some(-1.5716866132048692e-8), output: -9.049936451868574e-6 }, PIDState { time: 10149.7, dt: 0.020000000000436557, error: Some(-6.036937454517721e-6), p: Some(-9.055406181776582e-6), i: Some(0.0), d: Some(-2.806887103551873e-8), output: -9.083475052812101e-6 }, PIDState { time: 10149.72, dt: 0.019999999998617568, error: Some(-6.053845423015236e-6), p: Some(-9.080768134522854e-6), i: Some(0.0), d: Some(-3.988419560387541e-8), output: -9.12065233012673e-6 }, PIDState { time: 10149.74, dt: 0.020000000000436557, error: Some(-6.0730616805032556e-6), p: Some(-9.109592520754883e-6), i: Some(0.0), d: Some(-5.098773172085258e-8), output: -9.160580252475736e-6 }, PIDState { time: 10149.76, dt: 0.020000000000436557, error: Some(-6.094343302884275e-6), p: Some(-9.141514954326413e-6), i: Some(0.0), d: Some(-6.119584280409976e-8), output: -9.202710797130513e-6 }, PIDState { time: 10149.78, dt: 0.020000000000436557, error: Some(-6.116950622928052e-6), p: Some(-9.175425934392079e-6), i: Some(0.0), d: Some(-7.02440988126709e-8), output: -9.24567003320475e-6 }, PIDState { time: 10149.8, dt: 0.019999999998617568, error: Some(-6.140707041968341e-6), p: Some(-9.211060562952511e-6), i: Some(0.0), d: Some(-7.785596622558919e-8), output: -9.2889165291781e-6 }, PIDState { time: 10149.82, dt: 0.020000000000436557, error: Some(-6.1651547170055165e-6), p: Some(-9.247732075508275e-6), i: Some(0.0), d: Some(-8.391259672321717e-8), output: -9.331644672231492e-6 }, PIDState { time: 10149.84, dt: 0.020000000000436557, error: Some(-6.18956022192807e-6), p: Some(-9.284340332892105e-6), i: Some(0.0), d: Some(-8.832273845691777e-8), output: -9.372663071349022e-6 }, PIDState { time: 10149.86, dt: 0.020000000000436557, error: Some(-6.213686563505405e-6), p: Some(-9.320529845258108e-6), i: Some(0.0), d: Some(-9.094616508088544e-8), output: -9.411476010338993e-6 }, PIDState { time: 10149.88, dt: 0.019999999998617568, error: Some(-6.2371522920184885e-6), p: Some(-9.355728438027733e-6), i: Some(0.0), d: Some(-9.180517009613427e-8), output: -9.447533608123866e-6 }, PIDState { time: 10149.9, dt: 0.020000000000436557, error: Some(-6.254806398181545e-6), p: Some(-9.382209597272317e-6), i: Some(0.0), d: Some(-8.982911903078357e-8), output: -9.472038716303101e-6 }, PIDState { time: 10149.92, dt: 0.020000000000436557, error: Some(-6.266443721175685e-6), p: Some(-9.399665581763528e-6), i: Some(0.0), d: Some(-8.258665226172821e-8), output: -9.482252234025255e-6 }, PIDState { time: 10149.94, dt: 0.020000000000436557, error: Some(-6.276064832513861e-6), p: Some(-9.414097248770792e-6), i: Some(0.0), d: Some(-7.010028523871493e-8), output: -9.484197534009507e-6 }, PIDState { time: 10149.96, dt: 0.019999999998617568, error: Some(-6.283193906955753e-6), p: Some(-9.42479086043363e-6), i: Some(0.0), d: Some(-5.5645914269481864e-8), output: -9.480436774703112e-6 }, PIDState { time: 10149.98, dt: 0.020000000000436557, error: Some(-6.287657415338099e-6), p: Some(-9.431486123007149e-6), i: Some(0.0), d: Some(-4.1834194847710995e-8), output: -9.47332031785486e-6 }, PIDState { time: 10150.0, dt: 0.020000000000436557, error: Some(-6.2895098229681645e-6), p: Some(-9.434264734452247e-6), i: Some(0.0), d: Some(-2.9375031816794738e-8), output: -9.463639766269042e-6 }, PIDState { time: 10150.02, dt: 0.020000000000436557, error: Some(-6.288730501527451e-6), p: Some(-9.433095752291176e-6), i: Some(0.0), d: Some(-1.817496801716821e-8), output: -9.451270720308345e-6 }, PIDState { time: 10150.04, dt: 0.020000000000436557, error: Some(-6.285400224542714e-6), p: Some(-9.428100336814071e-6), i: Some(0.0), d: Some(-7.879466132751226e-9), output: -9.435979802946822e-6 }, PIDState { time: 10150.06, dt: 0.019999999998617568, error: Some(-6.279486644070187e-6), p: Some(-9.41922996610528e-6), i: Some(0.0), d: Some(1.874433522525739e-9), output: -9.417355532582754e-6 }, PIDState { time: 10150.08, dt: 0.020000000000436557, error: Some(-6.271010391009635e-6), p: Some(-9.406515586514452e-6), i: Some(0.0), d: Some(1.1373411301335654e-8), output: -9.395142175213116e-6 }, PIDState { time: 10150.1, dt: 0.020000000000436557, error: Some(-6.260404598237845e-6), p: Some(-9.390606897356768e-6), i: Some(0.0), d: Some(2.0692773674217145e-8), output: -9.369914123682551e-6 }, PIDState { time: 10150.12, dt: 0.020000000000436557, error: Some(-6.2479246698693425e-6), p: Some(-9.371887004804014e-6), i: Some(0.0), d: Some(2.962311800598263e-8), output: -9.342263886798031e-6 }, PIDState { time: 10150.14, dt: 0.019999999998617568, error: Some(-6.233656324614034e-6), p: Some(-9.350484486921051e-6), i: Some(0.0), d: Some(3.7922507888438035e-8), output: -9.312561979032613e-6 }, PIDState { time: 10150.16, dt: 0.020000000000436557, error: Some(-6.2179465831202485e-6), p: Some(-9.326919874680373e-6), i: Some(0.0), d: Some(4.5465562325000174e-8), output: -9.281454312355373e-6 }, PIDState { time: 10150.18, dt: 0.020000000000436557, error: Some(-6.2008015800918415e-6), p: Some(-9.301202370137762e-6), i: Some(0.0), d: Some(5.22058013252665e-8), output: -9.248996568812495e-6 }, PIDState { time: 10150.2, dt: 0.020000000000436557, error: Some(-6.182843993327025e-6), p: Some(-9.274265989990538e-6), i: Some(0.0), d: Some(5.809225849409021e-8), output: -9.216173731496448e-6 }, PIDState { time: 10150.22, dt: 0.019999999998617568, error: Some(-6.164195959890151e-6), p: Some(-9.246293939835226e-6), i: Some(0.0), d: Some(6.298679414050613e-8), output: -9.18330714569472e-6 }, PIDState { time: 10150.24, dt: 0.020000000000436557, error: Some(-6.145122603329334e-6), p: Some(-9.217683904994e-6), i: Some(0.0), d: Some(6.68136585835894e-8), output: -9.150870246410411e-6 }, PIDState { time: 10150.26, dt: 0.020000000000436557, error: Some(-6.125926468883436e-6), p: Some(-9.188889703325154e-6), i: Some(0.0), d: Some(6.958810612827937e-8), output: -9.119301597196875e-6 }, PIDState { time: 10150.28, dt: 0.020000000000436557, error: Some(-6.1070436821186735e-6), p: Some(-9.16056552317801e-6), i: Some(0.0), d: Some(7.126994993911586e-8), output: -9.089295573238894e-6 }, PIDState { time: 10150.3, dt: 0.019999999998617568, error: Some(-6.0889083695891966e-6), p: Some(-9.133362554383795e-6), i: Some(0.0), d: Some(7.173041960931469e-8), output: -9.061632134774481e-6 }, PIDState { time: 10150.32, dt: 0.020000000000436557, error: Some(-6.0716237132718565e-6), p: Some(-9.107435569907785e-6), i: Some(0.0), d: Some(7.088985828768177e-8), output: -9.036545711620103e-6 }, PIDState { time: 10150.34, dt: 0.020000000000436557, error: Some(-6.055447783995249e-6), p: Some(-9.083171675992874e-6), i: Some(0.0), d: Some(6.883913150148765e-8), output: -9.014332544491386e-6 }, PIDState { time: 10150.36, dt: 0.020000000000436557, error: Some(-6.04110616531095e-6), p: Some(-9.061659247966425e-6), i: Some(0.0), d: Some(6.560207278461364e-8), output: -8.996057175181812e-6 }, PIDState { time: 10150.38, dt: 0.019999999998617568, error: Some(-6.028849593303631e-6), p: Some(-9.043274389955447e-6), i: Some(0.0), d: Some(6.101282835706787e-8), output: -8.982261561598379e-6 }, PIDState { time: 10150.4, dt: 0.020000000000436557, error: Some(-6.018788121661678e-6), p: Some(-9.028182182492517e-6), i: Some(0.0), d: Some(5.502955017049391e-8), output: -8.973152632322022e-6 }, PIDState { time: 10150.42, dt: 0.020000000000436557, error: Some(-6.01104006738018e-6), p: Some(-9.01656010107027e-6), i: Some(0.0), d: Some(4.786207059543449e-8), output: -8.968698030474835e-6 }, PIDState { time: 10150.44, dt: 0.020000000000436557, error: Some(-6.005864754590751e-6), p: Some(-9.008797131886126e-6), i: Some(0.0), d: Some(3.9763236177478455e-8), output: -8.969033895708648e-6 }, PIDState { time: 10150.46, dt: 0.019999999998617568, error: Some(-6.003477193233797e-6), p: Some(-9.005215789850696e-6), i: Some(0.0), d: Some(3.0873208237471114e-8), output: -8.974342581613225e-6 }, PIDState { time: 10150.48, dt: 0.020000000000436557, error: Some(-6.003772813872876e-6), p: Some(-9.005659220809314e-6), i: Some(0.0), d: Some(2.1315403302294596e-8), output: -8.98434381750702e-6 }, PIDState { time: 10150.5, dt: 0.020000000000436557, error: Some(-6.007127214449626e-6), p: Some(-9.010690821674439e-6), i: Some(0.0), d: Some(1.1224452880440339e-8), output: -8.999466368793998e-6 }, PIDState { time: 10150.52, dt: 0.020000000000436557, error: Some(-6.013095998985696e-6), p: Some(-9.019643998478544e-6), i: Some(0.0), d: Some(7.486312988967964e-10), output: -9.018895367179647e-6 }, PIDState { time: 10150.54, dt: 0.020000000000436557, error: Some(-6.021554101481863e-6), p: Some(-9.032331152222794e-6), i: Some(0.0), d: Some(-9.785554688802422e-9), output: -9.042116706911597e-6 }, PIDState { time: 10150.56, dt: 0.019999999998617568, error: Some(-6.032320031421068e-6), p: Some(-9.048480047131602e-6), i: Some(0.0), d: Some(-2.000597937394231e-8), output: -9.068486026505544e-6 }, PIDState { time: 10150.58, dt: 0.020000000000436557, error: Some(-6.0455333723147264e-6), p: Some(-9.06830005847209e-6), i: Some(0.0), d: Some(-2.9755541698285923e-8), output: -9.098055600170376e-6 }, PIDState { time: 10150.6, dt: 0.020000000000436557, error: Some(-6.060886759057249e-6), p: Some(-9.091330138585874e-6), i: Some(0.0), d: Some(-3.904339644146261e-8), output: -9.130373535027336e-6 }, PIDState { time: 10150.62, dt: 0.020000000000436557, error: Some(-6.077896052628096e-6), p: Some(-9.116844078942143e-6), i: Some(0.0), d: Some(-4.7755242849180564e-8), output: -9.164599321791324e-6 }, PIDState { time: 10150.64, dt: 0.019999999998617568, error: Some(-6.096419561105182e-6), p: Some(-9.144629341657773e-6), i: Some(0.0), d: Some(-5.564079137363926e-8), output: -9.200270133031412e-6 }, PIDState { time: 10150.66, dt: 0.020000000000436557, error: Some(-6.115712124457606e-6), p: Some(-9.17356818668641e-6), i: Some(0.0), d: Some(-6.243703052737488e-8), output: -9.236005217213784e-6 }, PIDState { time: 10150.68, dt: 0.020000000000436557, error: Some(-6.135524117586999e-6), p: Some(-9.203286176380499e-6), i: Some(0.0), d: Some(-6.785333362179285e-8), output: -9.271139510002292e-6 }, PIDState { time: 10150.7, dt: 0.020000000000436557, error: Some(-6.155605497229488e-6), p: Some(-9.233408245844232e-6), i: Some(0.0), d: Some(-7.176403245881904e-8), output: -9.305172278303051e-6 }, PIDState { time: 10150.72, dt: 0.019999999998617568, error: Some(-6.175588586329606e-6), p: Some(-9.263382879494408e-6), i: Some(0.0), d: Some(-7.42408432061721e-8), output: -9.33762372270058e-6 }, PIDState { time: 10150.74, dt: 0.020000000000436557, error: Some(-6.195172367468027e-6), p: Some(-9.29275855120204e-6), i: Some(0.0), d: Some(-7.537485566301715e-8), output: -9.368133406865057e-6 }, PIDState { time: 10150.76, dt: 0.020000000000436557, error: Some(-6.214095288850641e-6), p: Some(-9.321142933275961e-6), i: Some(0.0), d: Some(-7.525453006491051e-8), output: -9.396397463340872e-6 }, PIDState { time: 10150.78, dt: 0.020000000000436557, error: Some(-6.2316540734436154e-6), p: Some(-9.347481110165423e-6), i: Some(0.0), d: Some(-7.386846334378847e-8), output: -9.421349573509212e-6 }, PIDState { time: 10150.8, dt: 0.019999999998617568, error: Some(-6.247806620188201e-6), p: Some(-9.371709930282301e-6), i: Some(0.0), d: Some(-7.11208626748328e-8), output: -9.442830792957135e-6 }, PIDState { time: 10150.82, dt: 0.020000000000436557, error: Some(-6.262390520039851e-6), p: Some(-9.393585780059777e-6), i: Some(0.0), d: Some(-6.709927405642555e-8), output: -9.460685054116203e-6 }, PIDState { time: 10150.84, dt: 0.020000000000436557, error: Some(-6.2751352011836126e-6), p: Some(-9.412702801775419e-6), i: Some(0.0), d: Some(-6.202232748666636e-8), output: -9.474725129262086e-6 }, PIDState { time: 10150.86, dt: 0.020000000000436557, error: Some(-6.285627912716585e-6), p: Some(-9.428441869074877e-6), i: Some(0.0), d: Some(-5.598265449074654e-8), output: -9.484424523565624e-6 }, PIDState { time: 10150.88, dt: 0.019999999998617568, error: Some(-6.293761056180847e-6), p: Some(-9.44064158427127e-6), i: Some(0.0), d: Some(-4.897377980493388e-8), output: -9.489615364076203e-6 }, PIDState { time: 10150.9, dt: 0.020000000000436557, error: Some(-6.299311032659238e-6), p: Some(-9.448966548988857e-6), i: Some(0.0), d: Some(-4.1039136534175225e-8), output: -9.490005685523033e-6 }, PIDState { time: 10150.92, dt: 0.020000000000436557, error: Some(-6.302176687844607e-6), p: Some(-9.453265031766911e-6), i: Some(0.0), d: Some(-3.2280518366378935e-8), output: -9.48554555013329e-6 }, PIDState { time: 10150.94, dt: 0.020000000000436557, error: Some(-6.302384335354905e-6), p: Some(-9.453576503032357e-6), i: Some(0.0), d: Some(-2.2861191510951367e-8), output: -9.476437694543309e-6 }, PIDState { time: 10150.96, dt: 0.019999999998617568, error: Some(-6.300001186801407e-6), p: Some(-9.45000178020211e-6), i: Some(0.0), d: Some(-1.3031552055383191e-8), output: -9.463033332257494e-6 }, PIDState { time: 10150.98, dt: 0.020000000000436557, error: Some(-6.295208435910804e-6), p: Some(-9.442812653866206e-6), i: Some(0.0), d: Some(-3.0921687215401985e-9), output: -9.445904822587746e-6 }, PIDState { time: 10151.0, dt: 0.020000000000436557, error: Some(-6.287980290037298e-6), p: Some(-9.431970435055947e-6), i: Some(0.0), d: Some(6.7011262518219485e-9), output: -9.425269308804126e-6 }, PIDState { time: 10151.02, dt: 0.020000000000436557, error: Some(-6.278293715591965e-6), p: Some(-9.417440573387947e-6), i: Some(0.0), d: Some(1.6255183748614215e-8), output: -9.401185389639333e-6 }, PIDState { time: 10151.04, dt: 0.020000000000436557, error: Some(-6.266508445665342e-6), p: Some(-9.399762668498013e-6), i: Some(0.0), d: Some(2.5523283344654332e-8), output: -9.374239385153358e-6 }, PIDState { time: 10151.06, dt: 0.019999999998617568, error: Some(-6.2528457336896714e-6), p: Some(-9.379268600534507e-6), i: Some(0.0), d: Some(3.4331160893418956e-8), output: -9.344937439641088e-6 }, PIDState { time: 10151.08, dt: 0.020000000000436557, error: Some(-6.237350393734076e-6), p: Some(-9.356025590601114e-6), i: Some(0.0), d: Some(4.2516789004427804e-8), output: -9.313508801596685e-6 }, PIDState { time: 10151.1, dt: 0.020000000000436557, error: Some(-6.220471680723483e-6), p: Some(-9.330707521085224e-6), i: Some(0.0), d: Some(4.998889649042073e-8), output: -9.280718624594804e-6 }, PIDState { time: 10151.12, dt: 0.020000000000436557, error: Some(-6.2023654683607266e-6), p: Some(-9.30354820254109e-6), i: Some(0.0), d: Some(5.662427933264894e-8), output: -9.24692392320844e-6 }, PIDState { time: 10151.14, dt: 0.019999999998617568, error: Some(-6.183133577336575e-6), p: Some(-9.274700366004862e-6), i: Some(0.0), d: Some(6.237958732021814e-8), output: -9.212320778684644e-6 }, PIDState { time: 10151.16, dt: 0.020000000000436557, error: Some(-6.163202708978077e-6), p: Some(-9.244804063467116e-6), i: Some(0.0), d: Some(6.727550899779059e-8), output: -9.177528554469326e-6 }, PIDState { time: 10151.18, dt: 0.020000000000436557, error: Some(-6.14317342528814e-6), p: Some(-9.21476013793221e-6), i: Some(0.0), d: Some(7.115891798102775e-8), output: -9.143601219951183e-6 }, PIDState { time: 10151.2, dt: 0.020000000000436557, error: Some(-6.12311793087017e-6), p: Some(-9.184676896305255e-6), i: Some(0.0), d: Some(7.380976578341509e-8), output: -9.11086713052184e-6 }, PIDState { time: 10151.22, dt: 0.019999999998617568, error: Some(-6.1034733622594706e-6), p: Some(-9.155210043389206e-6), i: Some(0.0), d: Some(7.517076429900198e-8), output: -9.080039279090203e-6 }, PIDState { time: 10151.24, dt: 0.020000000000436557, error: Some(-6.084800941219548e-6), p: Some(-9.127201411829322e-6), i: Some(0.0), d: Some(7.518490988791155e-8), output: -9.05201650194141e-6 }, PIDState { time: 10151.26, dt: 0.020000000000436557, error: Some(-6.067568896664377e-6), p: Some(-9.101353344996566e-6), i: Some(0.0), d: Some(7.367913167694438e-8), output: -9.02767421331962e-6 }, PIDState { time: 10151.28, dt: 0.020000000000436557, error: Some(-6.05205225484573e-6), p: Some(-9.078078382268595e-6), i: Some(0.0), d: Some(7.054367438128178e-8), output: -9.007534707887314e-6 }, PIDState { time: 10151.3, dt: 0.019999999998617568, error: Some(-6.0382254113283684e-6), p: Some(-9.057338116992553e-6), i: Some(0.0), d: Some(6.592184778235028e-8), output: -8.991416269210202e-6 }, PIDState { time: 10151.32, dt: 0.020000000000436557, error: Some(-6.026503089756607e-6), p: Some(-9.039754634634911e-6), i: Some(0.0), d: Some(6.011234056276956e-8), output: -8.97964229407214e-6 }, PIDState { time: 10151.34, dt: 0.020000000000436557, error: Some(-6.017443012124035e-6), p: Some(-9.026164518186053e-6), i: Some(0.0), d: Some(5.321449546021108e-8), output: -8.972950022725842e-6 }, PIDState { time: 10151.36, dt: 0.020000000000436557, error: Some(-6.011150966517276e-6), p: Some(-9.016726449775914e-6), i: Some(0.0), d: Some(4.5149150919787047e-8), output: -8.971577298856127e-6 }, PIDState { time: 10151.38, dt: 0.019999999998617568, error: Some(-6.007886761763559e-6), p: Some(-9.011830142645338e-6), i: Some(0.0), d: Some(3.593832480522045e-8), output: -8.975891817840118e-6 }, PIDState { time: 10151.4, dt: 0.020000000000436557, error: Some(-6.007412693992409e-6), p: Some(-9.011119040988613e-6), i: Some(0.0), d: Some(2.5802109199337223e-8), output: -8.985316931789275e-6 }, PIDState { time: 10151.42, dt: 0.020000000000436557, error: Some(-6.009946272089728e-6), p: Some(-9.014919408134592e-6), i: Some(0.0), d: Some(1.5080564942747198e-8), output: -8.999838843191845e-6 }, PIDState { time: 10151.44, dt: 0.020000000000436557, error: Some(-6.015700273517832e-6), p: Some(-9.023550410276748e-6), i: Some(0.0), d: Some(3.968268110562686e-9), output: -9.019582142166186e-6 }, PIDState { time: 10151.46, dt: 0.019999999998617568, error: Some(-6.024581279961971e-6), p: Some(-9.036871919942957e-6), i: Some(0.0), d: Some(-7.488063521724133e-9), output: -9.044359983464682e-6 }, PIDState { time: 10151.48, dt: 0.020000000000436557, error: Some(-6.036109942819667e-6), p: Some(-9.054164914229501e-6), i: Some(0.0), d: Some(-1.9061624138096895e-8), output: -9.073226538367598e-6 }, PIDState { time: 10151.5, dt: 0.020000000000436557, error: Some(-6.050298215459771e-6), p: Some(-9.075447323189656e-6), i: Some(0.0), d: Some(-3.036404049944785e-8), output: -9.105811363689104e-6 }, PIDState { time: 10151.52, dt: 0.020000000000436557, error: Some(-6.066562485723681e-6), p: Some(-9.099843728585522e-6), i: Some(0.0), d: Some(-4.104531567412764e-8), output: -9.140889044259649e-6 }, PIDState { time: 10151.54, dt: 0.020000000000436557, error: Some(-6.084749818641155e-6), p: Some(-9.127124727961733e-6), i: Some(0.0), d: Some(-5.0797647158161234e-8), output: -9.177922375119893e-6 }, PIDState { time: 10151.56, dt: 0.019999999998617568, error: Some(-6.104441257578919e-6), p: Some(-9.156661886368378e-6), i: Some(0.0), d: Some(-5.941364309677143e-8), output: -9.21607552946515e-6 }, PIDState { time: 10151.58, dt: 0.020000000000436557, error: Some(-6.125191679570707e-6), p: Some(-9.187787519356061e-6), i: Some(0.0), d: Some(-6.675105972018791e-8), output: -9.25453857907625e-6 }, PIDState { time: 10151.6, dt: 0.020000000000436557, error: Some(-6.142510803455736e-6), p: Some(-9.213766205183604e-6), i: Some(0.0), d: Some(-7.162914465255967e-8), output: -9.285395349836165e-6 }, PIDState { time: 10151.62, dt: 0.020000000000436557, error: Some(-6.1561898159062656e-6), p: Some(-9.234284723859398e-6), i: Some(0.0), d: Some(-7.178694445094385e-8), output: -9.306071668310342e-6 }, PIDState { time: 10151.64, dt: 0.019999999998617568, error: Some(-6.169794263516382e-6), p: Some(-9.254691395274572e-6), i: Some(0.0), d: Some(-6.722520639578983e-8), output: -9.321916601670362e-6 }, PIDState { time: 10151.66, dt: 0.020000000000436557, error: Some(-6.182739911111956e-6), p: Some(-9.274109866667934e-6), i: Some(0.0), d: Some(-6.08209243464554e-8), output: -9.33493079101439e-6 }, PIDState { time: 10151.68, dt: 0.020000000000436557, error: Some(-6.194965074424186e-6), p: Some(-9.292447611636279e-6), i: Some(0.0), d: Some(-5.484963762295095e-8), output: -9.34729724925923e-6 }, PIDState { time: 10151.7, dt: 0.020000000000436557, error: Some(-6.2057563740558486e-6), p: Some(-9.308634561083773e-6), i: Some(0.0), d: Some(-4.9774413189868783e-8), output: -9.358408974273642e-6 }, PIDState { time: 10151.72, dt: 0.019999999998617568, error: Some(-6.2154033805966735e-6), p: Some(-9.32310507089501e-6), i: Some(0.0), d: Some(-4.524136581150289e-8), output: -9.368346436706514e-6 }, PIDState { time: 10151.74, dt: 0.020000000000436557, error: Some(-6.223484533982027e-6), p: Some(-9.33522680097304e-6), i: Some(0.0), d: Some(-4.081752705706953e-8), output: -9.376044328030109e-6 }, PIDState { time: 10151.76, dt: 0.020000000000436557, error: Some(-6.230097020817893e-6), p: Some(-9.34514553122684e-6), i: Some(0.0), d: Some(-3.6179259766050135e-8), output: -9.38132479099289e-6 }, PIDState { time: 10151.78, dt: 0.020000000000436557, error: Some(-6.235295951784181e-6), p: Some(-9.352943927676272e-6), i: Some(0.0), d: Some(-3.120729541582913e-8), output: -9.3841512230921e-6 }, PIDState { time: 10151.8, dt: 0.019999999998617568, error: Some(-6.238817821677123e-6), p: Some(-9.358226732515684e-6), i: Some(0.0), d: Some(-2.592824807525515e-8), output: -9.384154980590939e-6 }, PIDState { time: 10151.82, dt: 0.020000000000436557, error: Some(-6.241073750898329e-6), p: Some(-9.361610626347494e-6), i: Some(0.0), d: Some(-2.0420586963141032e-8), output: -9.382031213310636e-6 }, PIDState { time: 10151.84, dt: 0.020000000000436557, error: Some(-6.242088651756128e-6), p: Some(-9.363132977634192e-6), i: Some(0.0), d: Some(-1.4926027110957504e-8), output: -9.37805900474515e-6 }, PIDState { time: 10151.86, dt: 0.020000000000436557, error: Some(-6.241467599060746e-6), p: Some(-9.362201398591119e-6), i: Some(0.0), d: Some(-9.557514065078459e-9), output: -9.371758912656197e-6 }, PIDState { time: 10151.88, dt: 0.019999999998617568, error: Some(-6.2393810892069634e-6), p: Some(-9.359071633810445e-6), i: Some(0.0), d: Some(-4.177293493676057e-9), output: -9.363248927304122e-6 }, PIDState { time: 10151.9, dt: 0.020000000000436557, error: Some(-6.2360062408062245e-6), p: Some(-9.354009361209337e-6), i: Some(0.0), d: Some(1.2371800268372557e-9), output: -9.352772181182499e-6 }, PIDState { time: 10151.92, dt: 0.020000000000436557, error: Some(-6.231343358323316e-6), p: Some(-9.347015037484974e-6), i: Some(0.0), d: Some(6.553158909987444e-9), output: -9.340461878574987e-6 }, PIDState { time: 10151.94, dt: 0.020000000000436557, error: Some(-6.225338138543535e-6), p: Some(-9.338007207815302e-6), i: Some(0.0), d: Some(1.1711199590132408e-8), output: -9.32629600822517e-6 }, PIDState { time: 10151.96, dt: 0.019999999998617568, error: Some(-6.21807550446607e-6), p: Some(-9.327113256699104e-6), i: Some(0.0), d: Some(1.6735292608144997e-8), output: -9.31037796409096e-6 }, PIDState { time: 10151.98, dt: 0.020000000000436557, error: Some(-6.209778617038975e-6), p: Some(-9.314667925558462e-6), i: Some(0.0), d: Some(2.1585805624082364e-8), output: -9.29308211993438e-6 }, PIDState { time: 10152.0, dt: 0.020000000000436557, error: Some(-6.2003134158328255e-6), p: Some(-9.300470123749238e-6), i: Some(0.0), d: Some(2.6192743195651236e-8), output: -9.274277380553588e-6 }, PIDState { time: 10152.02, dt: 0.020000000000436557, error: Some(-6.189994765176676e-6), p: Some(-9.284992147765014e-6), i: Some(0.0), d: Some(3.0524658595952874e-8), output: -9.254467489169061e-6 }, PIDState { time: 10152.04, dt: 0.020000000000436557, error: Some(-6.178679376703244e-6), p: Some(-9.268019065054867e-6), i: Some(0.0), d: Some(3.455364029981309e-8), output: -9.233465424755054e-6 }, PIDState { time: 10152.06, dt: 0.019999999998617568, error: Some(-6.166940903440388e-6), p: Some(-9.250411355160582e-6), i: Some(0.0), d: Some(3.8197639029571717e-8), output: -9.21221371613101e-6 }, PIDState { time: 10152.08, dt: 0.020000000000436557, error: Some(-6.15476464842224e-6), p: Some(-9.23214697263336e-6), i: Some(0.0), d: Some(4.127640535307399e-8), output: -9.190870567280286e-6 }, PIDState { time: 10152.1, dt: 0.020000000000436557, error: Some(-6.14254409543602e-6), p: Some(-9.21381614315403e-6), i: Some(0.0), d: Some(4.363083477024961e-8), output: -9.17018530838378e-6 }, PIDState { time: 10152.12, dt: 0.020000000000436557, error: Some(-6.1302459250095476e-6), p: Some(-9.195368887514321e-6), i: Some(0.0), d: Some(4.520376699262742e-8), output: -9.150165120521694e-6 }, PIDState { time: 10152.14, dt: 0.019999999998617568, error: Some(-6.118007524286151e-6), p: Some(-9.177011286429226e-6), i: Some(0.0), d: Some(4.606503973751877e-8), output: -9.130946246691707e-6 }, PIDState { time: 10152.16, dt: 0.020000000000436557, error: Some(-6.106121599028236e-6), p: Some(-9.159182398542354e-6), i: Some(0.0), d: Some(4.6300383047897156e-8), output: -9.112882015494456e-6 }, PIDState { time: 10152.18, dt: 0.020000000000436557, error: Some(-6.09499105067024e-6), p: Some(-9.14248657600536e-6), i: Some(0.0), d: Some(4.582932137100934e-8), output: -9.09665725463435e-6 }, PIDState { time: 10152.2, dt: 0.020000000000436557, error: Some(-6.084759927235672e-6), p: Some(-9.127139890853508e-6), i: Some(0.0), d: Some(4.449492348138264e-8), output: -9.082644967372126e-6 }, PIDState { time: 10152.22, dt: 0.019999999998617568, error: Some(-6.0757241555631225e-6), p: Some(-9.113586233344684e-6), i: Some(0.0), d: Some(4.221570455799306e-8), output: -9.071370528786691e-6 }, PIDState { time: 10152.24, dt: 0.020000000000436557, error: Some(-6.068161163871877e-6), p: Some(-9.102241745807815e-6), i: Some(0.0), d: Some(3.8956630993529496e-8), output: -9.063285114814285e-6 }, PIDState { time: 10152.26, dt: 0.020000000000436557, error: Some(-6.062189981434485e-6), p: Some(-9.093284972151727e-6), i: Some(0.0), d: Some(3.4722305183997135e-8), output: -9.05856266696773e-6 }, PIDState { time: 10152.28, dt: 0.020000000000436557, error: Some(-6.058057011398832e-6), p: Some(-9.087085517098248e-6), i: Some(0.0), d: Some(2.9585045029830235e-8), output: -9.057500472068418e-6 }, PIDState { time: 10152.3, dt: 0.019999999998617568, error: Some(-6.055555875766894e-6), p: Some(-9.08333381365034e-6), i: Some(0.0), d: Some(2.3715770770772627e-8), output: -9.059618042879567e-6 }, PIDState { time: 10152.32, dt: 0.020000000000436557, error: Some(-6.0547559813523e-6), p: Some(-9.08213397202845e-6), i: Some(0.0), d: Some(1.740707460082174e-8), output: -9.064726897427627e-6 }, PIDState { time: 10152.34, dt: 0.020000000000436557, error: Some(-6.055888911060681e-6), p: Some(-9.083833366591021e-6), i: Some(0.0), d: Some(1.0856814672666994e-8), output: -9.072976551918354e-6 }, PIDState { time: 10152.36, dt: 0.020000000000436557, error: Some(-6.058684498821965e-6), p: Some(-9.088026748232947e-6), i: Some(0.0), d: Some(4.145468493979654e-9), output: -9.083881279738968e-6 }, PIDState { time: 10152.38, dt: 0.019999999998617568, error: Some(-6.063161016672813e-6), p: Some(-9.09474152500922e-6), i: Some(0.0), d: Some(-2.5767999011872883e-9), output: -9.097318324910408e-6 }, PIDState { time: 10152.4, dt: 0.020000000000436557, error: Some(-6.0693645856646494e-6), p: Some(-9.104046878496974e-6), i: Some(0.0), d: Some(-9.197625785867969e-9), output: -9.113244504282842e-6 }, PIDState { time: 10152.42, dt: 0.020000000000436557, error: Some(-6.077149343072796e-6), p: Some(-9.115724014609194e-6), i: Some(0.0), d: Some(-1.5689054469530258e-8), output: -9.131413069078724e-6 }, PIDState { time: 10152.44, dt: 0.020000000000436557, error: Some(-6.086501186997051e-6), p: Some(-9.129751780495576e-6), i: Some(0.0), d: Some(-2.200876570731155e-8), output: -9.151760546202887e-6 }, PIDState { time: 10152.46, dt: 0.019999999998617568, error: Some(-6.097282583231167e-6), p: Some(-9.14592387484675e-6), i: Some(0.0), d: Some(-2.810680095399497e-8), output: -9.174030675800745e-6 }, PIDState { time: 10152.48, dt: 0.020000000000436557, error: Some(-6.1095134286093256e-6), p: Some(-9.164270142913988e-6), i: Some(0.0), d: Some(-3.3954235407104025e-8), output: -9.198224378321093e-6 }, PIDState { time: 10152.5, dt: 0.020000000000436557, error: Some(-6.122593192672832e-6), p: Some(-9.183889789009247e-6), i: Some(0.0), d: Some(-3.9430113522118754e-8), output: -9.223319902531366e-6 }, PIDState { time: 10152.52, dt: 0.020000000000436557, error: Some(-6.136263901349026e-6), p: Some(-9.20439585202354e-6), i: Some(0.0), d: Some(-4.4220717920887896e-8), output: -9.248616569944427e-6 }, PIDState { time: 10152.54, dt: 0.020000000000436557, error: Some(-6.1504317013239e-6), p: Some(-9.22564755198585e-6), i: Some(0.0), d: Some(-4.80752846079445e-8), output: -9.273722836593794e-6 }, PIDState { time: 10152.56, dt: 0.019999999998617568, error: Some(-6.164745763745372e-6), p: Some(-9.247118645618058e-6), i: Some(0.0), d: Some(-5.0941377643071394e-8), output: -9.29806002326113e-6 }, PIDState { time: 10152.58, dt: 0.020000000000436557, error: Some(-6.178741598819593e-6), p: Some(-9.268112398229389e-6), i: Some(0.0), d: Some(-5.274533604095445e-8), output: -9.320857734270343e-6 }, PIDState { time: 10152.6, dt: 0.020000000000436557, error: Some(-6.192325891413164e-6), p: Some(-9.288488837119746e-6), i: Some(0.0), d: Some(-5.3395997177561266e-8), output: -9.341884834297308e-6 }, PIDState { time: 10152.62, dt: 0.020000000000436557, error: Some(-6.205247406132486e-6), p: Some(-9.307871109198729e-6), i: Some(0.0), d: Some(-5.29386555187605e-8), output: -9.360809764717489e-6 }, PIDState { time: 10152.64, dt: 0.019999999998617568, error: Some(-6.2173050463937285e-6), p: Some(-9.325957569590593e-6), i: Some(0.0), d: Some(-5.148939399870784e-8), output: -9.3774469635893e-6 }, PIDState { time: 10152.66, dt: 0.020000000000436557, error: Some(-6.228330259608339e-6), p: Some(-9.342495389412508e-6), i: Some(0.0), d: Some(-4.9155846613616744e-8), output: -9.391651236026125e-6 }, PIDState { time: 10152.68, dt: 0.020000000000436557, error: Some(-6.23846767669467e-6), p: Some(-9.357701515042005e-6), i: Some(0.0), d: Some(-4.6121487238667024e-8), output: -9.403823002280673e-6 }, PIDState { time: 10152.7, dt: 0.020000000000436557, error: Some(-6.247318143789982e-6), p: Some(-9.370977215684972e-6), i: Some(0.0), d: Some(-4.258071344088246e-8), output: -9.413557929125856e-6 }, PIDState { time: 10152.72, dt: 0.019999999998617568, error: Some(-6.2546212291347825e-6), p: Some(-9.381931843702174e-6), i: Some(0.0), d: Some(-3.85191837324417e-8), output: -9.420451027434616e-6 }, PIDState { time: 10152.74, dt: 0.020000000000436557, error: Some(-6.260396244059385e-6), p: Some(-9.390594366089078e-6), i: Some(0.0), d: Some(-3.384364869336013e-8), output: -9.424438014782437e-6 }, PIDState { time: 10152.76, dt: 0.020000000000436557, error: Some(-6.264399387695407e-6), p: Some(-9.396599081543111e-6), i: Some(0.0), d: Some(-2.856350698849953e-8), output: -9.42516258853161e-6 }, PIDState { time: 10152.78, dt: 0.020000000000436557, error: Some(-6.266996802006819e-6), p: Some(-9.400495203010228e-6), i: Some(0.0), d: Some(-2.281993483591129e-8), output: -9.42331513784614e-6 }, PIDState { time: 10152.8, dt: 0.019999999998617568, error: Some(-6.2678714739111685e-6), p: Some(-9.401807210866753e-6), i: Some(0.0), d: Some(-1.6839627896627376e-8), output: -9.41864683876338e-6 }, PIDState { time: 10152.82, dt: 0.020000000000436557, error: Some(-6.267019302161336e-6), p: Some(-9.400528953242004e-6), i: Some(0.0), d: Some(-1.0711241838147755e-8), output: -9.411240195080153e-6 }, PIDState { time: 10152.84, dt: 0.020000000000436557, error: Some(-6.2645756915974404e-6), p: Some(-9.39686353739616e-6), i: Some(0.0), d: Some(-4.463314730448248e-9), output: -9.401326852126609e-6 }, PIDState { time: 10152.86, dt: 0.020000000000436557, error: Some(-6.260316930919996e-6), p: Some(-9.390475396379994e-6), i: Some(0.0), d: Some(1.8492417338835317e-9), output: -9.38862615464611e-6 }, PIDState { time: 10152.88, dt: 0.019999999998617568, error: Some(-6.254447919476491e-6), p: Some(-9.381671879214737e-6), i: Some(0.0), d: Some(8.213417938359824e-9), output: -9.373458461276377e-6 }, PIDState { time: 10152.9, dt: 0.020000000000436557, error: Some(-6.247174072909756e-6), p: Some(-9.370761109364634e-6), i: Some(0.0), d: Some(1.45108818527761e-8), output: -9.356250227511857e-6 }, PIDState { time: 10152.92, dt: 0.020000000000436557, error: Some(-6.2380580094223426e-6), p: Some(-9.357087014133514e-6), i: Some(0.0), d: Some(2.0665671576063258e-8), output: -9.33642134255745e-6 }, PIDState { time: 10152.94, dt: 0.020000000000436557, error: Some(-6.227418946250229e-6), p: Some(-9.341128419375344e-6), i: Some(0.0), d: Some(2.677349453171597e-8), output: -9.314354924843628e-6 }, PIDState { time: 10152.96, dt: 0.019999999998617568, error: Some(-6.215213826613053e-6), p: Some(-9.32282073991958e-6), i: Some(0.0), d: Some(3.284656531392345e-8), output: -9.289974174605655e-6 }, PIDState { time: 10152.98, dt: 0.020000000000436557, error: Some(-6.201736755834242e-6), p: Some(-9.302605133751363e-6), i: Some(0.0), d: Some(3.876594163405253e-8), output: -9.26383919211731e-6 }, PIDState { time: 10153.0, dt: 0.020000000000436557, error: Some(-6.1872318411621e-6), p: Some(-9.28084776174315e-6), i: Some(0.0), d: Some(4.432434460195961e-8), output: -9.23652341714119e-6 }, PIDState { time: 10153.02, dt: 0.020000000000436557, error: Some(-6.17199886869535e-6), p: Some(-9.257998303043025e-6), i: Some(0.0), d: Some(4.925988081330421e-8), output: -9.20873842222972e-6 }, PIDState { time: 10153.04, dt: 0.020000000000436557, error: Some(-6.1562815952820316e-6), p: Some(-9.234422392923047e-6), i: Some(0.0), d: Some(5.3357427920244824e-8), output: -9.181064965002803e-6 }, PIDState { time: 10153.06, dt: 0.019999999998617568, error: Some(-6.1402352312944775e-6), p: Some(-9.210352846941716e-6), i: Some(0.0), d: Some(5.651587541166373e-8), output: -9.153836971530052e-6 }, PIDState { time: 10153.08, dt: 0.020000000000436557, error: Some(-6.1241160239505765e-6), p: Some(-9.186174035925865e-6), i: Some(0.0), d: Some(5.874187072456403e-8), output: -9.1274321652013e-6 }, PIDState { time: 10153.1, dt: 0.020000000000436557, error: Some(-6.1085597732601915e-6), p: Some(-9.162839659890287e-6), i: Some(0.0), d: Some(5.996002218952433e-8), output: -9.102879637700763e-6 }, PIDState { time: 10153.12, dt: 0.020000000000436557, error: Some(-6.093871509071924e-6), p: Some(-9.140807263607886e-6), i: Some(0.0), d: Some(5.994750592905759e-8), output: -9.08085975767883e-6 }, PIDState { time: 10153.14, dt: 0.019999999998617568, error: Some(-6.08048039658915e-6), p: Some(-9.120720594883724e-6), i: Some(0.0), d: Some(5.852069027144404e-8), output: -9.06219990461228e-6 }, PIDState { time: 10153.16, dt: 0.020000000000436557, error: Some(-6.06834591825034e-6), p: Some(-9.10251887737551e-6), i: Some(0.0), d: Some(5.570134833477405e-8), output: -9.046817529040735e-6 }, PIDState { time: 10153.18, dt: 0.020000000000436557, error: Some(-6.058059109553815e-6), p: Some(-9.087088664330722e-6), i: Some(0.0), d: Some(5.1636632315384654e-8), output: -9.035452032015337e-6 }, PIDState { time: 10153.2, dt: 0.020000000000436557, error: Some(-6.0497741007914385e-6), p: Some(-9.074661151187158e-6), i: Some(0.0), d: Some(4.6395562436455464e-8), output: -9.028265588750703e-6 }, PIDState { time: 10153.22, dt: 0.019999999998617568, error: Some(-6.043727846155589e-6), p: Some(-9.065591769233383e-6), i: Some(0.0), d: Some(4.003661267389903e-8), output: -9.025555156559484e-6 }, PIDState { time: 10153.24, dt: 0.020000000000436557, error: Some(-6.037797578781201e-6), p: Some(-9.056696368171802e-6), i: Some(0.0), d: Some(3.326365111439664e-8), output: -9.023432717057405e-6 }, PIDState { time: 10153.26, dt: 0.020000000000436557, error: Some(-6.031961406666175e-6), p: Some(-9.047942109999263e-6), i: Some(0.0), d: Some(2.749848186513582e-8), output: -9.020443628134126e-6 }, PIDState { time: 10153.28, dt: 0.020000000000436557, error: Some(-6.028548467443273e-6), p: Some(-9.04282270116491e-6), i: Some(0.0), d: Some(2.3014976796349325e-8), output: -9.01980772436856e-6 }, PIDState { time: 10153.3, dt: 0.019999999998617568, error: Some(-6.027450925025213e-6), p: Some(-9.04117638753782e-6), i: Some(0.0), d: Some(1.843484166081353e-8), output: -9.022741545877006e-6 }, PIDState { time: 10153.32, dt: 0.020000000000436557, error: Some(-6.028603215996187e-6), p: Some(-9.04290482399428e-6), i: Some(0.0), d: Some(1.2697155491465534e-8), output: -9.030207668502815e-6 }, PIDState { time: 10153.34, dt: 0.020000000000436557, error: Some(-6.0321269949731304e-6), p: Some(-9.048190492459696e-6), i: Some(0.0), d: Some(5.705974100597839e-9), output: -9.042484518359098e-6 }, PIDState { time: 10153.36, dt: 0.020000000000436557, error: Some(-6.037868540864633e-6), p: Some(-9.056802811296949e-6), i: Some(0.0), d: Some(-2.2461662045954118e-9), output: -9.059048977501544e-6 }, PIDState { time: 10153.38, dt: 0.019999999998617568, error: Some(-6.045555862255192e-6), p: Some(-9.068333793382788e-6), i: Some(0.0), d: Some(-1.0663420457597292e-8), output: -9.078997213840385e-6 }, PIDState { time: 10153.4, dt: 0.020000000000436557, error: Some(-6.05518219398693e-6), p: Some(-9.082773290980395e-6), i: Some(0.0), d: Some(-1.9037404925480437e-8), output: -9.101810695905875e-6 }, PIDState { time: 10153.42, dt: 0.020000000000436557, error: Some(-6.066620490421948e-6), p: Some(-9.099930735632922e-6), i: Some(0.0), d: Some(-2.706557117694538e-8), output: -9.126996306809867e-6 }, PIDState { time: 10153.44, dt: 0.020000000000436557, error: Some(-6.079602376904414e-6), p: Some(-9.11940356535662e-6), i: Some(0.0), d: Some(-3.4582462928811106e-8), output: -9.153986028285431e-6 }, PIDState { time: 10153.46, dt: 0.019999999998617568, error: Some(-6.094017374932981e-6), p: Some(-9.141026062399471e-6), i: Some(0.0), d: Some(-4.146187410889229e-8), output: -9.182487936508363e-6 }, PIDState { time: 10153.48, dt: 0.020000000000436557, error: Some(-6.109495232956008e-6), p: Some(-9.164242849434012e-6), i: Some(0.0), d: Some(-4.7606274515058035e-8), output: -9.21184912394907e-6 }, PIDState { time: 10153.5, dt: 0.020000000000436557, error: Some(-6.125718355357024e-6), p: Some(-9.188577533035536e-6), i: Some(0.0), d: Some(-5.2878124838311954e-8), output: -9.241455657873847e-6 }, PIDState { time: 10153.52, dt: 0.020000000000436557, error: Some(-6.14254742807574e-6), p: Some(-9.21382114211361e-6), i: Some(0.0), d: Some(-5.716650646957884e-8), output: -9.270987648583188e-6 }, PIDState { time: 10153.54, dt: 0.020000000000436557, error: Some(-6.159732093904968e-6), p: Some(-9.239598140857452e-6), i: Some(0.0), d: Some(-6.047684382076727e-8), output: -9.30007498467822e-6 }, PIDState { time: 10153.56, dt: 0.019999999998617568, error: Some(-6.176609101113395e-6), p: Some(-9.264913651670093e-6), i: Some(0.0), d: Some(-6.274559887046745e-8), output: -9.32765925054056e-6 }, PIDState { time: 10153.62, dt: 0.010000000000218279, error: Some(-7.273922657623222e-5), p: Some(-0.00010910883986434833), i: Some(0.0), d: Some(-0.0), output: -0.00010910883986434833 }, PIDState { time: 10153.64, dt: 0.019999999998617568, error: Some(-0.0002157598816206474), p: Some(-0.0003236398224309711), i: Some(0.0), d: Some(-3.6146068118514e-5), output: -0.0003597858905494851 }, PIDState { time: 10153.66, dt: 0.020000000000436557, error: Some(-0.0004247863236341992), p: Some(-0.0006371794854512988), i: Some(0.0), d: Some(-0.0001664811469387908), output: -0.0008036606323900896 }, PIDState { time: 10153.68, dt: 0.020000000000436557, error: Some(-0.0006218571987719329), p: Some(-0.0009327857981578994), i: Some(0.0), d: Some(-0.00036710964960851256), output: -0.001299895447766412 }, PIDState { time: 10153.68, dt: 0.01, error: Some(-0.0008031934121395523), p: Some(-0.0012047901182093285), i: Some(0.0), d: Some(-0.0010986431732210894), output: -0.0023034332914304177 }, PIDState { time: 10153.7, dt: 0.020000000000436557, error: Some(-0.000965397769075102), p: Some(-0.001448096653612653), i: Some(0.0), d: Some(-0.0006589423270369057), output: -0.002107038980649559 }, PIDState { time: 10153.72, dt: 0.019999999998617568, error: Some(-0.0011055121012146785), p: Some(-0.0016582681518220177), i: Some(0.0), d: Some(-0.0006897726813531727), output: -0.0023480408331751903 }, PIDState { time: 10153.74, dt: 0.020000000000436557, error: Some(-0.0012210743573166788), p: Some(-0.0018316115359750182), i: Some(0.0), d: Some(-0.0006575342029729432), output: -0.0024891457389479613 }, PIDState { time: 10153.76, dt: 0.020000000000436557, error: Some(-0.0013101470452660108), p: Some(-0.001965220567899016), i: Some(0.0), d: Some(-0.0005832491387853797), output: -0.0025484697066843957 }, PIDState { time: 10153.78, dt: 0.020000000000436557, error: Some(-0.001371352681158386), p: Some(-0.002057029021737579), i: Some(0.0), d: Some(-0.000484989117809998), output: -0.0025420181395475767 }, PIDState { time: 10153.8, dt: 0.019999999998617568, error: Some(-0.0014038884464048634), p: Some(-0.002105832669607295), i: Some(0.0), d: Some(-0.00037529349424068344), output: -0.0024811261638479788 }, PIDState { time: 10153.82, dt: 0.020000000000436557, error: Some(-0.0013346653979456058), p: Some(-0.0020019980969184087), i: Some(0.0), d: Some(-0.00026161332126460504), output: -0.002263611418183014 }, PIDState { time: 10153.84, dt: 0.020000000000436557, error: Some(-0.00130977146850976), p: Some(-0.00196465720276464), i: Some(0.0), d: Some(-0.00014787368798842767), output: -0.0021125308907530677 }, PIDState { time: 10153.86, dt: 0.020000000000436557, error: Some(-0.001257263473101733), p: Some(-0.0018858952096525994), i: Some(0.0), d: Some(-3.606759373479725e-5), output: -0.0019219628033873967 }, PIDState { time: 10153.88, dt: 0.019999999998617568, error: Some(-0.0011786210624718102), p: Some(-0.0017679315937077153), i: Some(0.0), d: Some(7.257276806043685e-5), output: -0.0016953588256472785 }, PIDState { time: 10153.9, dt: 0.020000000000436557, error: Some(-0.0010758407912813267), p: Some(-0.00161376118692199), i: Some(0.0), d: Some(0.00017690565642676187), output: -0.0014368555304952282 }, PIDState { time: 10153.92, dt: 0.020000000000436557, error: Some(-0.0009280143294137094), p: Some(-0.0013920214941205641), i: Some(0.0), d: Some(0.0002756146482034089), output: -0.0011164068459171552 }, PIDState { time: 10153.94, dt: 0.020000000000436557, error: Some(-0.0007847538016539507), p: Some(-0.001177130702480926), i: Some(0.0), d: Some(0.00036719680521470386), output: -0.0008099338972662221 }, PIDState { time: 10153.96, dt: 0.019999999998617568, error: Some(-0.000625897427157851), p: Some(-0.0009388461407367765), i: Some(0.0), d: Some(0.00045006796534634796), output: -0.0004887781753904286 }, PIDState { time: 10153.98, dt: 0.020000000000436557, error: Some(-0.00045492109679134973), p: Some(-0.0006823816451870246), i: Some(0.0), d: Some(0.000522695733020961), output: -0.00015968591216606362 }, PIDState { time: 10154.0, dt: 0.020000000000436557, error: Some(-0.0002754905206524827), p: Some(-0.00041323578097872404), i: Some(0.0), d: Some(0.0005837138161263622), output: 0.0001704780351476381 }, PIDState { time: 10154.02, dt: 0.020000000000436557, error: Some(0.0009378324820567135), p: Some(0.0014067487230850703), i: Some(0.0), d: Some(0.0006320018324178449), output: 0.002038750555502915 }, PIDState { time: 10154.04, dt: 0.020000000000436557, error: Some(0.0011228137970901303), p: Some(0.0016842206956351954), i: Some(0.0), d: Some(0.0006667318326763705), output: 0.002350952528311566 }, PIDState { time: 10154.06, dt: 0.019999999998617568, error: Some(0.0013049088304275258), p: Some(0.0019573632456412887), i: Some(0.0), d: Some(0.0006873888306651026), output: 0.002644752076306391 }, PIDState { time: 10154.08, dt: 0.020000000000436557, error: Some(0.0014804825802618021), p: Some(0.002220723870392703), i: Some(0.0), d: Some(0.0006937736200629355), output: 0.0029144974904556386 }, PIDState { time: 10154.1, dt: 0.020000000000436557, error: Some(0.0016460935522363551), p: Some(0.0024691403283545327), i: Some(0.0), d: Some(0.0006859945928188754), output: 0.003155134921173408 }, PIDState { time: 10154.12, dt: 0.020000000000436557, error: Some(0.001799490404384138), p: Some(0.002699235606576207), i: Some(0.0), d: Some(0.0006644527867193877), output: 0.003363688393295595 }, PIDState { time: 10154.14, dt: 0.019999999998617568, error: Some(0.001935948956039213), p: Some(0.0029039234340588194), i: Some(0.0), d: Some(0.000629822685368659), output: 0.0035337461194274783 }, PIDState { time: 10154.16, dt: 0.020000000000436557, error: Some(0.00205390453984608), p: Some(0.0030808568097691197), i: Some(0.0), d: Some(0.0005830295103924948), output: 0.0036638863201616145 }, PIDState { time: 10154.18, dt: 0.020000000000436557, error: Some(0.0021512736044474734), p: Some(0.00322691040667121), i: Some(0.0), d: Some(0.0005252233954762082), output: 0.0037521338021474183 }, PIDState { time: 10154.2, dt: 0.020000000000436557, error: Some(0.002226417868519251), p: Some(0.0033396268027788764), i: Some(0.0), d: Some(0.00045775102551000123), output: 0.003797377828288878 }, PIDState { time: 10154.22, dt: 0.019999999998617568, error: Some(0.001524444339349798), p: Some(0.002286666509024697), i: Some(0.0), d: Some(0.0003821247604782181), output: 0.002668791269502915 }, PIDState { time: 10154.24, dt: 0.020000000000436557, error: Some(0.0015521146751164422), p: Some(0.0023281720126746633), i: Some(0.0), d: Some(0.00029998955702174515), output: 0.0026281615696964085 }, PIDState { time: 10154.26, dt: 0.020000000000436557, error: Some(0.0015555099641389597), p: Some(0.0023332649462084395), i: Some(0.0), d: Some(0.00021308872147643326), output: 0.002546353667684873 }, PIDState { time: 10154.28, dt: 0.020000000000436557, error: Some(0.0015349205620723838), p: Some(0.0023023808431085757), i: Some(0.0), d: Some(0.00012322898524797827), output: 0.002425609828356554 }, PIDState { time: 10154.3, dt: 0.019999999998617568, error: Some(0.0014911149979071892), p: Some(0.0022366724968607837), i: Some(0.0), d: Some(3.224641139444836e-5), output: 0.0022689189082552323 }, PIDState { time: 10154.32, dt: 0.020000000000436557, error: Some(0.001389596754111877), p: Some(0.0020843951311678155), i: Some(0.0), d: Some(-5.802331342885682e-5), output: 0.0020263718177389585 }, PIDState { time: 10154.34, dt: 0.020000000000436557, error: Some(0.0013034987031171202), p: Some(0.0019552480546756804), i: Some(0.0), d: Some(-0.00014577314954361816), output: 0.0018094749051320621 }, PIDState { time: 10154.36, dt: 0.020000000000436557, error: Some(0.0011991488491646662), p: Some(0.0017987232737469994), i: Some(0.0), d: Some(-0.0002292591625505081), output: 0.0015694641111964913 }, PIDState { time: 10154.38, dt: 0.019999999998617568, error: Some(0.001078949889466177), p: Some(0.0016184248341992655), i: Some(0.0), d: Some(-0.00030683980369374393), output: 0.0013115850305055216 }, PIDState { time: 10154.4, dt: 0.020000000000436557, error: Some(0.0009455908597875012), p: Some(0.0014183862896812519), i: Some(0.0), d: Some(-0.0003770139593608754), output: 0.0010413723303203766 }, PIDState { time: 10154.42, dt: 0.020000000000436557, error: Some(-0.00023374724219488163), p: Some(-0.00035062086329232245), i: Some(0.0), d: Some(-0.0004384549450472096), output: -0.000789075808339532 }, PIDState { time: 10154.44, dt: 0.020000000000436557, error: Some(-0.0003845217230259018), p: Some(-0.0005767825845388527), i: Some(0.0), d: Some(-0.0004900387797065948), output: -0.0010668213642454475 }, PIDState { time: 10154.46, dt: 0.019999999998617568, error: Some(-0.0005392951685922048), p: Some(-0.0008089427528883072), i: Some(0.0), d: Some(-0.00053086576836453), output: -0.0013398085212528374 }, PIDState { time: 10154.48, dt: 0.020000000000436557, error: Some(-0.0006948685204895), p: Some(-0.00104230278073425), i: Some(0.0), d: Some(-0.0005602754835742195), output: -0.0016025782643084695 }, PIDState { time: 10154.5, dt: 0.020000000000436557, error: Some(-0.0008480805651427531), p: Some(-0.0012721208477141296), i: Some(0.0), d: Some(-0.0005778557101903941), output: -0.0018499765579045237 }, PIDState { time: 10154.52, dt: 0.020000000000436557, error: Some(-0.0010126564793777187), p: Some(-0.0015189847190665781), i: Some(0.0), d: Some(-0.0005834453282410688), output: -0.002102430047307647 }, PIDState { time: 10154.54, dt: 0.020000000000436557, error: Some(-0.0011521242966400086), p: Some(-0.0017281864449600129), i: Some(0.0), d: Some(-0.0005771314116908108), output: -0.0023053178566508235 }, PIDState { time: 10154.56, dt: 0.019999999998617568, error: Some(-0.0012805863568784298), p: Some(-0.0019208795353176447), i: Some(0.0), d: Some(-0.0005592415171339317), output: -0.0024801210524515766 }, PIDState { time: 10154.58, dt: 0.020000000000436557, error: Some(-0.0013956246750225776), p: Some(-0.0020934370125338664), i: Some(0.0), d: Some(-0.0005303313861231008), output: -0.002623768398656967 }, PIDState { time: 10154.6, dt: 0.020000000000436557, error: Some(-0.00149513047572708), p: Some(-0.00224269571359062), i: Some(0.0), d: Some(-0.000491168331050435), output: -0.002733864044641055 }, PIDState { time: 10154.62, dt: 0.020000000000436557, error: Some(-0.0015783978029335344), p: Some(-0.0023675967044003016), i: Some(0.0), d: Some(-0.0004427110399418361), output: -0.0028103077443421376 }, PIDState { time: 10154.64, dt: 0.019999999998617568, error: Some(-0.001641922914438626), p: Some(-0.002462884371657939), i: Some(0.0), d: Some(-0.00038608616115094464), output: -0.0028489705328088835 }, PIDState { time: 10154.66, dt: 0.020000000000436557, error: Some(-0.0016857691217655874), p: Some(-0.002528653682648381), i: Some(0.0), d: Some(-0.0003225622706349983), output: -0.002851215953283379 }, PIDState { time: 10154.68, dt: 0.020000000000436557, error: Some(-0.001709350985676053), p: Some(-0.0025640264785140796), i: Some(0.0), d: Some(-0.0002535221796263225), output: -0.002817548658140402 }, PIDState { time: 10154.7, dt: 0.020000000000436557, error: Some(-0.0017124959101148668), p: Some(-0.0025687438651723), i: Some(0.0), d: Some(-0.00018043384437540412), output: -0.0027491777095477042 }, PIDState { time: 10154.72, dt: 0.019999999998617568, error: Some(-0.0008305752023365504), p: Some(-0.0012458628035048255), i: Some(0.0), d: Some(-0.00010482031869394594), output: -0.0013506831221987714 }, PIDState { time: 10154.74, dt: 0.020000000000436557, error: Some(-0.0007939632355837001), p: Some(-0.0011909448533755501), i: Some(0.0), d: Some(-2.8230561999936804e-5), output: -0.001219175415375487 }, PIDState { time: 10154.76, dt: 0.020000000000436557, error: Some(-0.0007388261993022255), p: Some(-0.0011082392989533382), i: Some(0.0), d: Some(4.778680818569004e-5), output: -0.0010604524907676482 }, PIDState { time: 10154.78, dt: 0.020000000000436557, error: Some(-0.0006665621785614528), p: Some(-0.0009998432678421793), i: Some(0.0), d: Some(0.00012170861360708511), output: -0.0008781346542350941 }, PIDState { time: 10154.8, dt: 0.019999999998617568, error: Some(-0.0005788983552137417), p: Some(-0.0008683475328206125), i: Some(0.0), d: Some(0.00019206603802548777), output: -0.0006762814947951247 }, PIDState { time: 10154.82, dt: 0.020000000000436557, error: Some(-0.000456578194647117), p: Some(-0.0006848672919706755), i: Some(0.0), d: Some(0.00025747704372470586), output: -0.00042739024824596966 }, PIDState { time: 10154.84, dt: 0.020000000000436557, error: Some(-0.0003444048027160529), p: Some(-0.0005166072040740793), i: Some(0.0), d: Some(0.000316677757752194), output: -0.00019992944632188532 }, PIDState { time: 10154.86, dt: 0.020000000000436557, error: Some(-0.0002235547299889451), p: Some(-0.00033533209498341765), i: Some(0.0), d: Some(0.0003685503277335842), output: 3.321823275016653e-5 }, PIDState { time: 10154.88, dt: 0.019999999998617568, error: Some(-9.661483148744321e-5), p: Some(-0.0001449222472311648), i: Some(0.0), d: Some(0.00041214601188471566), output: 0.00026722376465355084 }, PIDState { time: 10154.9, dt: 0.020000000000436557, error: Some(3.374681085645259e-5), p: Some(5.062021628467889e-5), i: Some(0.0), d: Some(0.0004467032650433689), output: 0.0004973234813280478 }, PIDState { time: 10154.92, dt: 0.020000000000436557, error: Some(0.001012464850864342), p: Some(0.0015186972762965129), i: Some(0.0), d: Some(0.0004716606684441819), output: 0.001990357944740695 }, PIDState { time: 10154.94, dt: 0.020000000000436557, error: Some(0.0011416161517831258), p: Some(0.0017124242276746887), i: Some(0.0), d: Some(0.0004866645240064202), output: 0.002199088751681109 }, PIDState { time: 10154.96, dt: 0.019999999998617568, error: Some(0.0012662480627906592), p: Some(0.0018993720941859887), i: Some(0.0), d: Some(0.0004915717114127698), output: 0.0023909438055987587 }, PIDState { time: 10154.98, dt: 0.020000000000436557, error: Some(0.0013839124222933125), p: Some(0.0020758686334399687), i: Some(0.0), d: Some(0.00048644790353894374), output: 0.0025623165369789125 }, PIDState { time: 10155.0, dt: 0.020000000000436557, error: Some(0.0014923419515155967), p: Some(0.002238512927273395), i: Some(0.0), d: Some(0.0004715615805052901), output: 0.0027100745077786852 }, PIDState { time: 10155.02, dt: 0.020000000000436557, error: Some(0.0015813982432413276), p: Some(0.0023720973648619914), i: Some(0.0), d: Some(0.00044737412290219596), output: 0.002819471487764187 }, PIDState { time: 10155.04, dt: 0.020000000000436557, error: Some(0.001665483580407981), p: Some(0.0024982253706119714), i: Some(0.0), d: Some(0.00041452610155611673), output: 0.0029127514721680884 }, PIDState { time: 10155.06, dt: 0.019999999998617568, error: Some(0.001735010324256478), p: Some(0.002602515486384717), i: Some(0.0), d: Some(0.0003738205603837105), output: 0.0029763360467684272 }, PIDState { time: 10155.08, dt: 0.020000000000436557, error: Some(0.0017887992677685371), p: Some(0.0026831989016528057), i: Some(0.0), d: Some(0.00032620346898905664), output: 0.0030094023706418623 }, PIDState { time: 10155.1, dt: 0.020000000000436557, error: Some(0.0018260050356998098), p: Some(0.0027390075535497146), i: Some(0.0), d: Some(0.0002727418551328357), output: 0.0030117494086825502 }, PIDState { time: 10155.12, dt: 0.020000000000436557, error: Some(0.0009647511275253651), p: Some(0.0014471266912880476), i: Some(0.0), d: Some(0.0002146006066752376), output: 0.0016617272979632851 }, PIDState { time: 10155.14, dt: 0.019999999998617568, error: Some(0.0009676384963919066), p: Some(0.0014514577445878599), i: Some(0.0), d: Some(0.00015301799262888293), output: 0.0016044757372167427 }, PIDState { time: 10155.16, dt: 0.020000000000436557, error: Some(0.0009534865637534917), p: Some(0.0014302298456302376), i: Some(0.0), d: Some(8.928008944823159e-5), output: 0.0015195099350784691 }, PIDState { time: 10155.18, dt: 0.020000000000436557, error: Some(0.0009228310881226193), p: Some(0.001384246632183929), i: Some(0.0), d: Some(2.46955162474646e-5), output: 0.0014089421484313935 }, PIDState { time: 10155.2, dt: 0.020000000000436557, error: Some(0.0008765382119844123), p: Some(0.0013148073179766184), i: Some(0.0), d: Some(-3.942747555931955e-5), output: 0.0012753798424172988 }, PIDState { time: 10155.22, dt: 0.019999999998617568, error: Some(0.0007960036827614203), p: Some(0.0011940055241421305), i: Some(0.0), d: Some(-0.00010180282669048218), output: 0.0010922026974516483 }, PIDState { time: 10155.24, dt: 0.020000000000436557, error: Some(0.0007222344223641597), p: Some(0.0010833516335462395), i: Some(0.0), d: Some(-0.0001611912659076422), output: 0.0009221603676385973 }, PIDState { time: 10155.26, dt: 0.020000000000436557, error: Some(0.0006371476073311205), p: Some(0.0009557214109966808), i: Some(0.0), d: Some(-0.00021642725294240324), output: 0.0007392941580542775 }, PIDState { time: 10155.28, dt: 0.020000000000436557, error: Some(0.0005426430060222892), p: Some(0.0008139645090334338), i: Some(0.0), d: Some(-0.0002664448741183515), output: 0.0005475196349150823 }, PIDState { time: 10155.3, dt: 0.019999999998617568, error: Some(0.000440782470081752), p: Some(0.000661173705122628), i: Some(0.0), d: Some(-0.00031030072635725994), output: 0.000350872978765368 }, PIDState { time: 10155.32, dt: 0.020000000000436557, error: Some(-0.0006108843266173641), p: Some(-0.0009163264899260462), i: Some(0.0), d: Some(-0.0003471931686844245), output: -0.0012635196586104707 }, PIDState { time: 10155.34, dt: 0.020000000000436557, error: Some(-0.0007208499469357477), p: Some(-0.0010812749204036215), i: Some(0.0), d: Some(-0.0003764773627274435), output: -0.0014577522831310651 }, PIDState { time: 10155.36, dt: 0.020000000000436557, error: Some(-0.0008314708584714059), p: Some(-0.0012472062877071088), i: Some(0.0), d: Some(-0.00039767596687201084), output: -0.0016448822545791198 }, PIDState { time: 10155.38, dt: 0.019999999998617568, error: Some(-0.0009404982414016327), p: Some(-0.0014107473621024491), i: Some(0.0), d: Some(-0.00041048602246083246), output: -0.0018212333845632816 }, PIDState { time: 10155.4, dt: 0.020000000000436557, error: Some(-0.0010457514555846925), p: Some(-0.0015686271833770388), i: Some(0.0), d: Some(-0.0004147817164055609), output: -0.0019834088997826 }, PIDState { time: 10155.42, dt: 0.020000000000436557, error: Some(-0.0011434983922494757), p: Some(-0.0017152475883742135), i: Some(0.0), d: Some(-0.00041061300599051667), output: -0.0021258605943647304 }, PIDState { time: 10155.44, dt: 0.020000000000436557, error: Some(-0.0012351471983572948), p: Some(-0.0018527207975359422), i: Some(0.0), d: Some(-0.000398200852530112), output: -0.0022509216500660543 }, PIDState { time: 10155.46, dt: 0.019999999998617568, error: Some(-0.001317304363722016), p: Some(-0.001975956545583024), i: Some(0.0), d: Some(-0.0003779292977647536), output: -0.002353885843347778 }, PIDState { time: 10155.48, dt: 0.020000000000436557, error: Some(-0.0013884572475282436), p: Some(-0.0020826858712923654), i: Some(0.0), d: Some(-0.0003503342482274587), output: -0.0024330201195198243 }, PIDState { time: 10155.5, dt: 0.020000000000436557, error: Some(-0.001447338501329179), p: Some(-0.0021710077519937684), i: Some(0.0), d: Some(-0.0003160893709889), output: -0.0024870971229826685 }, PIDState { time: 10155.52, dt: 0.020000000000436557, error: Some(-0.000989100522473793), p: Some(-0.0014836507837106896), i: Some(0.0), d: Some(-0.00027598997389700387), output: -0.0017596407576076934 }, PIDState { time: 10155.54, dt: 0.020000000000436557, error: Some(-0.0010207164795393436), p: Some(-0.0015310747193090155), i: Some(0.0), d: Some(-0.00023093489026712), output: -0.0017620096095761354 }, PIDState { time: 10155.56, dt: 0.019999999998617568, error: Some(-0.001037911652887774), p: Some(-0.0015568674793316611), i: Some(0.0), d: Some(-0.00018190659204092208), output: -0.0017387740713725832 }, PIDState { time: 10155.58, dt: 0.020000000000436557, error: Some(-0.0010405532450728505), p: Some(-0.0015608298676092758), i: Some(0.0), d: Some(-0.00012995038104495358), output: -0.0016907802486542294 }, PIDState { time: 10155.6, dt: 0.020000000000436557, error: Some(-0.0010288018033781932), p: Some(-0.0015432027050672897), i: Some(0.0), d: Some(-7.61528714089801e-5), output: -0.0016193555764762698 }, PIDState { time: 10155.62, dt: 0.020000000000436557, error: Some(-0.0009857061294982067), p: Some(-0.00147855919424731), i: Some(0.0), d: Some(-2.1620504493440217e-5), output: -0.0015001796987407503 }, PIDState { time: 10155.64, dt: 0.019999999998617568, error: Some(-0.0009467918472462616), p: Some(-0.0014201877708693925), i: Some(0.0), d: Some(3.254048020290712e-5), output: -0.0013876472906664853 }, PIDState { time: 10155.66, dt: 0.020000000000436557, error: Some(-0.0008956454833126681), p: Some(-0.0013434682249690022), i: Some(0.0), d: Some(8.52432622788248e-5), output: -0.0012582249626901774 }, PIDState { time: 10155.68, dt: 0.020000000000436557, error: Some(-0.0008334880262620137), p: Some(-0.0012502320393930205), i: Some(0.0), d: Some(0.00013544114639802484), output: -0.0011147908929949957 }, PIDState { time: 10155.7, dt: 0.020000000000436557, error: Some(-0.0007617468314068537), p: Some(-0.0011426202471102806), i: Some(0.0), d: Some(0.0001821496991083047), output: -0.0009604705480019759 }, PIDState { time: 10155.72, dt: 0.019999999998617568, error: Some(0.0002614693236665522), p: Some(0.00039220398549982827), i: Some(0.0), d: Some(0.000224468126511237), output: 0.0006166721120110653 }, PIDState { time: 10155.74, dt: 0.020000000000436557, error: Some(0.0003474382717678359), p: Some(0.0005211574076517539), i: Some(0.0), d: Some(0.0002615985291701615), output: 0.0007827559368219154 }, PIDState { time: 10155.76, dt: 0.020000000000436557, error: Some(0.0004378141253664203), p: Some(0.0006567211880496304), i: Some(0.0), d: Some(0.0002928621867396), output: 0.0009495833747892304 }, PIDState { time: 10155.78, dt: 0.020000000000436557, error: Some(0.0005306980055874988), p: Some(0.0007960470083812482), i: Some(0.0), d: Some(0.0003177120626036058), output: 0.001113759070984854 }, PIDState { time: 10155.8, dt: 0.019999999998617568, error: Some(0.0006241703556830874), p: Some(0.0009362555335246311), i: Some(0.0), d: Some(0.0003357417621528119), output: 0.001271997295677443 }, PIDState { time: 10155.82, dt: 0.020000000000436557, error: Some(0.00071904668954971), p: Some(0.001078570034324565), i: Some(0.0), d: Some(0.00034669144058630593), output: 0.0014252614749108708 }, PIDState { time: 10155.84, dt: 0.020000000000436557, error: Some(0.0008080496813443611), p: Some(0.0012120745220165416), i: Some(0.0), d: Some(0.00035045033469350244), output: 0.001562524856710044 }, PIDState { time: 10155.86, dt: 0.020000000000436557, error: Some(0.0008921448291525774), p: Some(0.0013382172437288661), i: Some(0.0), d: Some(0.00034705603148000246), output: 0.0016852732752088687 }, PIDState { time: 10155.88, dt: 0.019999999998617568, error: Some(0.0009697077812337723), p: Some(0.0014545616718506585), i: Some(0.0), d: Some(0.0003366908459133211), output: 0.0017912525177639796 }, PIDState { time: 10155.9, dt: 0.020000000000436557, error: Some(0.0010392717771670057), p: Some(0.0015589076657505085), i: Some(0.0), d: Some(0.0003196752127240347), output: 0.0018785828784745433 }, PIDState { time: 10155.92, dt: 0.020000000000436557, error: Some(0.0009895499882172504), p: Some(0.0014843249823258756), i: Some(0.0), d: Some(0.0002964583918457187), output: 0.0017807833741715943 }, PIDState { time: 10155.94, dt: 0.020000000000436557, error: Some(0.0010394744857226412), p: Some(0.0015592117285839618), i: Some(0.0), d: Some(0.0002676068562582516), output: 0.0018268185848422135 }, PIDState { time: 10155.96, dt: 0.019999999998617568, error: Some(0.0010781900451041215), p: Some(0.0016172850676561823), i: Some(0.0), d: Some(0.00023379065817918365), output: 0.001851075725835366 }, PIDState { time: 10155.98, dt: 0.020000000000436557, error: Some(0.0011050835951635224), p: Some(0.0016576253927452836), i: Some(0.0), d: Some(0.00019576807513146743), output: 0.001853393467876751 }, PIDState { time: 10156.0, dt: 0.020000000000436557, error: Some(0.0011197885681790698), p: Some(0.0016796828522686047), i: Some(0.0), d: Some(0.00015436888639072088), output: 0.0018340517386593255 }, PIDState { time: 10156.02, dt: 0.020000000000436557, error: Some(0.001105252441967089), p: Some(0.0016578786629506334), i: Some(0.0), d: Some(0.00011047680323096368), output: 0.0017683554661815971 }, PIDState { time: 10156.04, dt: 0.020000000000436557, error: Some(0.0010954802441560524), p: Some(0.0016432203662340786), i: Some(0.0), d: Some(6.50112326556944e-5), output: 0.001708231598889773 }, PIDState { time: 10156.06, dt: 0.019999999998617568, error: Some(0.001073911277165454), p: Some(0.0016108669157481811), i: Some(0.0), d: Some(1.890881728592698e-5), output: 0.0016297757330341082 }, PIDState { time: 10156.08, dt: 0.020000000000436557, error: Some(0.0010411567098897456), p: Some(0.0015617350648346184), i: Some(0.0), d: Some(-2.6893840270510888e-5), output: 0.0015348412245641077 }, PIDState { time: 10156.1, dt: 0.020000000000436557, error: Some(0.0009980467698396805), p: Some(0.0014970701547595208), i: Some(0.0), d: Some(-7.147673756996083e-5), output: 0.00142559341718956 }, PIDState { time: 10156.12, dt: 0.020000000000436557, error: Some(1.634248021413487e-5), p: Some(2.4513720321202304e-5), i: Some(0.0), d: Some(-0.0001139543475355314), output: -8.94406272143291e-5 }, PIDState { time: 10156.14, dt: 0.019999999998617568, error: Some(-4.4216949821471174e-5), p: Some(-6.632542473220676e-5), i: Some(0.0), d: Some(-0.0001534942037052697), output: -0.00021981962843747646 }, PIDState { time: 10156.16, dt: 0.020000000000436557, error: Some(-0.00011154902242048459), p: Some(-0.00016732353363072688), i: Some(0.0), d: Some(-0.00018933457819094688), output: -0.00035665811182167376 }, PIDState { time: 10156.18, dt: 0.020000000000436557, error: Some(-0.00018418591798007033), p: Some(-0.0002762788769701055), i: Some(0.0), d: Some(-0.00022080033407541132), output: -0.0004970792110455169 }, PIDState { time: 10156.2, dt: 0.020000000000436557, error: Some(-0.0002605752399000849), p: Some(-0.00039086285985012736), i: Some(0.0), d: Some(-0.000247316295598235), output: -0.0006381791554483623 }, PIDState { time: 10156.22, dt: 0.019999999998617568, error: Some(-0.00034605559038400346), p: Some(-0.0005190833855760052), i: Some(0.0), d: Some(-0.0002684179697591084), output: -0.0007875013553351137 }, PIDState { time: 10156.24, dt: 0.020000000000436557, error: Some(-0.0004251172205119308), p: Some(-0.0006376758307678962), i: Some(0.0), d: Some(-0.000283759384657856), output: -0.0009214352154257522 }, PIDState { time: 10156.26, dt: 0.020000000000436557, error: Some(-0.0005030952505490349), p: Some(-0.0007546428758235524), i: Some(0.0), d: Some(-0.00029311811233397256), output: -0.001047760988157525 }, PIDState { time: 10156.28, dt: 0.020000000000436557, error: Some(-0.0005784288909313762), p: Some(-0.0008676433363970643), i: Some(0.0), d: Some(-0.00029639758739981504), output: -0.0011640409237968794 }, PIDState { time: 10156.3, dt: 0.019999999998617568, error: Some(-0.0006496351078924406), p: Some(-0.0009744526618386609), i: Some(0.0), d: Some(-0.0002936266642128765), output: -0.0012680793260515374 }, PIDState { time: 10156.32, dt: 0.020000000000436557, error: Some(-0.0007178110387805886), p: Some(-0.001076716558170883), i: Some(0.0), d: Some(-0.00028495653295532966), output: -0.0013616730911262126 }, PIDState { time: 10156.34, dt: 0.020000000000436557, error: Some(-0.0007767658732728139), p: Some(-0.0011651488099092208), i: Some(0.0), d: Some(-0.00027065523910612896), output: -0.0014358040490153497 }, PIDState { time: 10156.36, dt: 0.020000000000436557, error: Some(-0.0008278842743363879), p: Some(-0.0012418264115045818), i: Some(0.0), d: Some(-0.0002510999538304651), output: -0.0014929263653350468 }, PIDState { time: 10156.38, dt: 0.019999999998617568, error: Some(-0.0008702524334952694), p: Some(-0.001305378650242904), i: Some(0.0), d: Some(-0.00022676736786412166), output: -0.0015321460181070257 }, PIDState { time: 10156.4, dt: 0.020000000000436557, error: Some(-0.0009031463536658679), p: Some(-0.001354719530498802), i: Some(0.0), d: Some(-0.00019822241420607454), output: -0.0015529419447048763 }, PIDState { time: 10156.42, dt: 0.020000000000436557, error: Some(-0.0006585253809045649), p: Some(-0.0009877880713568474), i: Some(0.0), d: Some(-0.00016610539895633647), output: -0.0011538934703131838 }, PIDState { time: 10156.44, dt: 0.020000000000436557, error: Some(-0.0006711129224229451), p: Some(-0.0010066693836344176), i: Some(0.0), d: Some(-0.00013111782783939343), output: -0.001137787211473811 }, PIDState { time: 10156.46, dt: 0.019999999998617568, error: Some(-0.0006732881884578545), p: Some(-0.0010099322826867818), i: Some(0.0), d: Some(-9.400714551211902e-5), output: -0.0011039394281989008 }, PIDState { time: 10156.48, dt: 0.020000000000436557, error: Some(-0.0006651601287495229), p: Some(-0.0009977401931242844), i: Some(0.0), d: Some(-5.5551242661083526e-5), output: -0.001053291435785368 }, PIDState { time: 10156.5, dt: 0.020000000000436557, error: Some(-0.0006470438103054893), p: Some(-0.000970565715458234), i: Some(0.0), d: Some(-1.654317844246724e-5), output: -0.0009871088939007013 }, PIDState { time: 10156.52, dt: 0.020000000000436557, error: Some(-0.0006069176986839842), p: Some(-0.0009103765480259762), i: Some(0.0), d: Some(2.2223742102681315e-5), output: -0.0008881528059232949 }, PIDState { time: 10156.54, dt: 0.020000000000436557, error: Some(-0.0005705520881111176), p: Some(-0.0008558281321666764), i: Some(0.0), d: Some(5.9970494320389584e-5), output: -0.0007958576378462868 }, PIDState { time: 10156.56, dt: 0.019999999998617568, error: Some(-0.0005262791203723555), p: Some(-0.0007894186805585332), i: Some(0.0), d: Some(9.59474402613522e-5), output: -0.000693471240297181 }, PIDState { time: 10156.58, dt: 0.020000000000436557, error: Some(-0.00047511465473192016), p: Some(-0.0007126719820978802), i: Some(0.0), d: Some(0.00012944984605944132), output: -0.000583222136038439 }, PIDState { time: 10156.6, dt: 0.020000000000436557, error: Some(-0.0004181991997316836), p: Some(-0.0006272987995975254), i: Some(0.0), d: Some(0.0001598325891442974), output: -0.000467466210453228 }, PIDState { time: 10156.62, dt: 0.020000000000436557, error: Some(0.0002788548013812897), p: Some(0.00041828220207193456), i: Some(0.0), d: Some(0.00018652343460690582), output: 0.0006048056366788404 }, PIDState { time: 10156.64, dt: 0.019999999998617568, error: Some(0.0003434796187819916), p: Some(0.0005152194281729874), i: Some(0.0), d: Some(0.00020903444501374016), output: 0.0007242538731867276 }, PIDState { time: 10156.66, dt: 0.020000000000436557, error: Some(0.00040994583059636436), p: Some(0.0006149187458945465), i: Some(0.0), d: Some(0.00022697109465962144), output: 0.000841889840554168 }, PIDState { time: 10156.68, dt: 0.020000000000436557, error: Some(0.00047687978136178033), p: Some(0.0007153196720426705), i: Some(0.0), d: Some(0.00024003875457278716), output: 0.0009553584266154577 }, PIDState { time: 10156.7, dt: 0.020000000000436557, error: Some(0.000542919581146481), p: Some(0.0008143793717197215), i: Some(0.0), d: Some(0.0002480468054836084), output: 0.00106242617720333 }, PIDState { time: 10156.72, dt: 0.019999999998617568, error: Some(0.0006066978436196496), p: Some(0.0009100467654294744), i: Some(0.0), d: Some(0.0002509107079290811), output: 0.0011609574733585555 }, PIDState { time: 10156.74, dt: 0.020000000000436557, error: Some(0.0006670465863346242), p: Some(0.0010005698795019363), i: Some(0.0), d: Some(0.0002486518333125593), output: 0.0012492217128144956 }, PIDState { time: 10156.76, dt: 0.020000000000436557, error: Some(0.0007227532952708698), p: Some(0.0010841299429063048), i: Some(0.0), d: Some(0.00024139508208543954), output: 0.0013255250249917443 }, PIDState { time: 10156.78, dt: 0.020000000000436557, error: Some(0.0007727624126390997), p: Some(0.0011591436189586496), i: Some(0.0), d: Some(0.00022936465667759627), output: 0.001388508275636246 }, PIDState { time: 10156.8, dt: 0.019999999998617568, error: Some(0.0008161489820511791), p: Some(0.0012242234730767687), i: Some(0.0), d: Some(0.00021287776110108874), output: 0.0014371012341778575 }, PIDState { time: 10156.82, dt: 0.020000000000436557, error: Some(0.0006916229583072558), p: Some(0.0010374344374608838), i: Some(0.0), d: Some(0.00019233628552352627), output: 0.00122977072298441 }, PIDState { time: 10156.84, dt: 0.020000000000436557, error: Some(0.0007195940416998975), p: Some(0.0010793910625498462), i: Some(0.0), d: Some(0.0001682171517168162), output: 0.0012476082142666624 }, PIDState { time: 10156.86, dt: 0.020000000000436557, error: Some(0.0007391039021264062), p: Some(0.0011086558531896093), i: Some(0.0), d: Some(0.00014106152284964801), output: 0.0012497173760392573 }, PIDState { time: 10156.88, dt: 0.019999999998617568, error: Some(0.0007498838250472734), p: Some(0.00112482573757091), i: Some(0.0), d: Some(0.00011146293261044042), output: 0.0012362886701813504 }, PIDState { time: 10156.9, dt: 0.020000000000436557, error: Some(0.0007518446637265197), p: Some(0.0011277669955897796), i: Some(0.0), d: Some(8.005442613696944e-5), output: 0.001207821421726749 }, PIDState { time: 10156.92, dt: 0.020000000000436557, error: Some(0.0007297817083683905), p: Some(0.0010946725625525858), i: Some(0.0), d: Some(4.749531078612082e-5), output: 0.0011421678733387066 }, PIDState { time: 10156.94, dt: 0.020000000000436557, error: Some(0.0007145483290526), p: Some(0.0010718224935789), i: Some(0.0), d: Some(1.4457958407408107e-5), output: 0.0010862804519863082 }, PIDState { time: 10156.96, dt: 0.019999999998617568, error: Some(0.000691283144431093), p: Some(0.0010369247166466394), i: Some(0.0), d: Some(-1.8384999187421583e-5), output: 0.0010185397174592179 }, PIDState { time: 10156.98, dt: 0.020000000000436557, error: Some(0.0006605762068262605), p: Some(0.0009908643102393908), i: Some(0.0), d: Some(-5.037309692584388e-5), output: 0.0009404912133135468 }, PIDState { time: 10157.0, dt: 0.020000000000436557, error: Some(0.0006231603085369852), p: Some(0.0009347404628054778), i: Some(0.0), d: Some(-8.087091874507926e-5), output: 0.0008538695440603986 }, PIDState { time: 10157.02, dt: 0.020000000000436557, error: Some(-3.235552591200619e-5), p: Some(-4.853328886800928e-5), i: Some(0.0), d: Some(-0.00010928115291439551), output: -0.0001578144417824048 }, PIDState { time: 10157.04, dt: 0.020000000000436557, error: Some(-8.050811936696767e-5), p: Some(-0.0001207621790504515), i: Some(0.0), d: Some(-0.0001350569025600637), output: -0.00025581908161051523 }, PIDState { time: 10157.06, dt: 0.019999999998617568, error: Some(-0.00013249772021724227), p: Some(-0.0001987465803258634), i: Some(0.0), d: Some(-0.00015771279117880878), output: -0.0003564593715046722 }, PIDState { time: 10157.08, dt: 0.020000000000436557, error: Some(-0.00018721369178545388), p: Some(-0.0002808205376781808), i: Some(0.0), d: Some(-0.00017683458793161613), output: -0.00045765512560979693 }, PIDState { time: 10157.1, dt: 0.020000000000436557, error: Some(-0.00024350700658080926), p: Some(-0.0003652605098712139), i: Some(0.0), d: Some(-0.00019208695180465124), output: -0.0005573474616758651 }, PIDState { time: 10157.12, dt: 0.020000000000436557, error: Some(-0.00030510743065707835), p: Some(-0.0004576611459856175), i: Some(0.0), d: Some(-0.0002032188525275589), output: -0.0006608799985131764 }, PIDState { time: 10157.14, dt: 0.019999999998617568, error: Some(-0.0003610737712707035), p: Some(-0.0005416106569060553), i: Some(0.0), d: Some(-0.00021006708605040143), output: -0.0007516777429564566 }, PIDState { time: 10157.16, dt: 0.020000000000436557, error: Some(-0.0004151783113687385), p: Some(-0.0006227674670531078), i: Some(0.0), d: Some(-0.00021255824175467938), output: -0.0008353257088077871 }, PIDState { time: 10157.18, dt: 0.020000000000436557, error: Some(-0.0004663548508665044), p: Some(-0.0006995322762997566), i: Some(0.0), d: Some(-0.00021070874265152487), output: -0.0009102410189512815 }, PIDState { time: 10157.2, dt: 0.020000000000436557, error: Some(-0.0005136126865682433), p: Some(-0.000770419029852365), i: Some(0.0), d: Some(-0.00020462290942437132), output: -0.0009750419392767363 }, PIDState { time: 10157.22, dt: 0.019999999998617568, error: Some(-0.0005577930539194531), p: Some(-0.0008366895808791797), i: Some(0.0), d: Some(-0.0001944892686614467), output: -0.0010311788495406264 }, PIDState { time: 10157.24, dt: 0.020000000000436557, error: Some(-0.0005946356329259994), p: Some(-0.0008919534493889991), i: Some(0.0), d: Some(-0.00018057513697532167), output: -0.0010725285863643207 }, PIDState { time: 10157.26, dt: 0.020000000000436557, error: Some(-0.0006252172082673174), p: Some(-0.0009378258124009761), i: Some(0.0), d: Some(-0.00016321968239374048), output: -0.0011010454947947166 }, PIDState { time: 10157.28, dt: 0.020000000000436557, error: Some(-0.0006490133947628512), p: Some(-0.0009735200921442769), i: Some(0.0), d: Some(-0.00014282589054797877), output: -0.0011163459826922556 }, PIDState { time: 10157.3, dt: 0.019999999998617568, error: Some(-0.0006656440493254256), p: Some(-0.0009984660739881385), i: Some(0.0), d: Some(-0.00011985137663506708), output: -0.0011183174506232056 }, PIDState { time: 10157.32, dt: 0.020000000000436557, error: Some(-0.0004264784817969991), p: Some(-0.0006397177226954986), i: Some(0.0), d: Some(-9.479821180584293e-5), output: -0.0007345159345013416 }, PIDState { time: 10157.34, dt: 0.020000000000436557, error: Some(-0.00042824013446882137), p: Some(-0.000642360201703232), i: Some(0.0), d: Some(-6.820228044333576e-5), output: -0.0007105624821465678 }, PIDState { time: 10157.36, dt: 0.020000000000436557, error: Some(-0.0004226021681944525), p: Some(-0.0006339032522916788), i: Some(0.0), d: Some(-4.062217683484266e-5), output: -0.0006745254291265215 }, PIDState { time: 10157.38, dt: 0.019999999998617568, error: Some(-0.00040978721274258223), p: Some(-0.0006146808191138733), i: Some(0.0), d: Some(-1.2628003165273623e-5), output: -0.0006273088222791469 }, PIDState { time: 10157.4, dt: 0.020000000000436557, error: Some(-0.0003901600507645736), p: Some(-0.0005852400761468604), i: Some(0.0), d: Some(1.5209608634697e-5), output: -0.0005700304675121634 }, PIDState { time: 10157.42, dt: 0.020000000000436557, error: Some(-0.0003554311638805374), p: Some(-0.0005331467458208061), i: Some(0.0), d: Some(4.233045968429892e-5), output: -0.0004908162861365072 }, PIDState { time: 10157.44, dt: 0.020000000000436557, error: Some(-0.000323794874791547), p: Some(-0.0004856923121873205), i: Some(0.0), d: Some(6.819582340384822e-5), output: -0.0004174964887834723 }, PIDState { time: 10157.46, dt: 0.019999999998617568, error: Some(-0.0002871887890489172), p: Some(-0.0004307831835733758), i: Some(0.0), d: Some(9.229946050962298e-5), output: -0.00033848372306375285 }, PIDState { time: 10157.48, dt: 0.020000000000436557, error: Some(-0.00024642846570921417), p: Some(-0.00036964269856382126), i: Some(0.0), d: Some(0.00011417794036084675), output: -0.00025546475820297453 }, PIDState { time: 10157.5, dt: 0.020000000000436557, error: Some(-0.0002024019972639568), p: Some(-0.0003036029958959352), i: Some(0.0), d: Some(0.00013341962701524156), output: -0.00017018336888069364 }, PIDState { time: 10157.52, dt: 0.020000000000436557, error: Some(0.0002611935101708013), p: Some(0.0003917902652562019), i: Some(0.0), d: Some(0.00014967254164478515), output: 0.000541462806900987 }, PIDState { time: 10157.54, dt: 0.020000000000436557, error: Some(0.0003088977799654141), p: Some(0.0004633466699481212), i: Some(0.0), d: Some(0.000162651107383984), output: 0.0006259977773321051 }, PIDState { time: 10157.56, dt: 0.019999999998617568, error: Some(0.00035696845347053807), p: Some(0.0005354526802058071), i: Some(0.0), d: Some(0.0001721411851507674), output: 0.0007075938653565744 }, PIDState { time: 10157.58, dt: 0.020000000000436557, error: Some(0.0004044271261343657), p: Some(0.0006066406892015486), i: Some(0.0), d: Some(0.00017800319339075638), output: 0.0007846438825923049 }, PIDState { time: 10157.6, dt: 0.020000000000436557, error: Some(0.00045032248761425753), p: Some(0.0006754837314213863), i: Some(0.0), d: Some(0.00018017344868280377), output: 0.00085565718010419 }, PIDState { time: 10157.62, dt: 0.020000000000436557, error: Some(0.0004930999048704948), p: Some(0.0007396498573057422), i: Some(0.0), d: Some(0.0001786641041233402), output: 0.0009183139614290824 }, PIDState { time: 10157.64, dt: 0.019999999998617568, error: Some(0.0005332175638164821), p: Some(0.0007998263457247232), i: Some(0.0), d: Some(0.0001735617593213385), output: 0.0009733881050460616 }, PIDState { time: 10157.66, dt: 0.020000000000436557, error: Some(0.0005692639427430229), p: Some(0.0008538959141145344), i: Some(0.0), d: Some(0.0001650244005191869), output: 0.0010189203146337214 }, PIDState { time: 10157.68, dt: 0.020000000000436557, error: Some(0.000600571224063845), p: Some(0.0009008568360957675), i: Some(0.0), d: Some(0.0001532769467560293), output: 0.001054133782851797 }, PIDState { time: 10157.7, dt: 0.020000000000436557, error: Some(0.0006265771918292917), p: Some(0.0009398657877439376), i: Some(0.0), d: Some(0.0001386056272986296), output: 0.0010784714150425673 }, PIDState { time: 10157.72, dt: 0.019999999998617568, error: Some(0.0004319931880893829), p: Some(0.0006479897821340744), i: Some(0.0), d: Some(0.00012135102858184632), output: 0.0007693408107159207 }, PIDState { time: 10157.74, dt: 0.020000000000436557, error: Some(0.0004461778648142123), p: Some(0.0006692667972213184), i: Some(0.0), d: Some(0.00010190028191035709), output: 0.0007711670791316755 }, PIDState { time: 10157.76, dt: 0.020000000000436557, error: Some(0.00045409262565614117), p: Some(0.0006811389384842118), i: Some(0.0), d: Some(8.06787330298502e-5), output: 0.0007618176715140619 }, PIDState { time: 10157.78, dt: 0.020000000000436557, error: Some(0.00045566996753861055), p: Some(0.0006835049513079158), i: Some(0.0), d: Some(5.814092961445974e-5), output: 0.0007416458809223756 }, PIDState { time: 10157.8, dt: 0.019999999998617568, error: Some(0.00045097048088239833), p: Some(0.0006764557213235975), i: Some(0.0), d: Some(3.47609662432381e-5), output: 0.0007112166875668356 }, PIDState { time: 10157.82, dt: 0.020000000000436557, error: Some(0.00043262376973919603), p: Some(0.000648935654608794), i: Some(0.0), d: Some(1.1022674145364063e-5), output: 0.0006599583287541581 }, PIDState { time: 10157.84, dt: 0.020000000000436557, error: Some(0.00041605246223606895), p: Some(0.0006240786933541034), i: Some(0.0), d: Some(-1.2589733489135592e-5), output: 0.0006114889598649679 }, PIDState { time: 10157.86, dt: 0.020000000000436557, error: Some(0.00039411993981824933), p: Some(0.000591179909727374), i: Some(0.0), d: Some(-3.5600879478284434e-5), output: 0.0005555790302490895 }, PIDState { time: 10157.88, dt: 0.019999999998617568, error: Some(0.000367349671951539), p: Some(0.0005510245079273085), i: Some(0.0), d: Some(-5.7553598208662276e-5), output: 0.0004934709097186462 }, PIDState { time: 10157.9, dt: 0.020000000000436557, error: Some(0.0003363557385227811), p: Some(0.0005045336077841717), i: Some(0.0), d: Some(-7.801814094408356e-5), output: 0.0004265154668400881 }, PIDState { time: 10157.92, dt: 0.020000000000436557, error: Some(-0.00010990706866262356), p: Some(-0.00016486060299393535), i: Some(0.0), d: Some(-9.660088207405435e-5), output: -0.0002614614850679897 }, PIDState { time: 10157.94, dt: 0.020000000000436557, error: Some(-0.00014721505677456337), p: Some(-0.00022082258516184505), i: Some(0.0), d: Some(-0.00011295211830217525), output: -0.00033377470346402033 }, PIDState { time: 10157.96, dt: 0.019999999998617568, error: Some(-0.00018650663495901887), p: Some(-0.0002797599524385283), i: Some(0.0), d: Some(-0.00012677268462233982), output: -0.0004065326370608681 }, PIDState { time: 10157.98, dt: 0.020000000000436557, error: Some(-0.00022695667209288173), p: Some(-0.0003404350081393226), i: Some(0.0), d: Some(-0.0001378195314178011), output: -0.0004782545395571237 }, PIDState { time: 10158.0, dt: 0.020000000000436557, error: Some(-0.00026772899619538493), p: Some(-0.0004015934942930774), i: Some(0.0), d: Some(-0.00014591007969444575), output: -0.0005475035739875232 }, PIDState { time: 10158.02, dt: 0.020000000000436557, error: Some(-0.00030944849175625067), p: Some(-0.000464172737634376), i: Some(0.0), d: Some(-0.00015092487557060612), output: -0.0006150976132049821 }, PIDState { time: 10158.04, dt: 0.020000000000436557, error: Some(-0.00034839776600074923), p: Some(-0.0005225966490011238), i: Some(0.0), d: Some(-0.00015280879199661553), output: -0.0006754054409977394 }, PIDState { time: 10158.06, dt: 0.019999999998617568, error: Some(-0.00038526346617483165), p: Some(-0.0005778951992622475), i: Some(0.0), d: Some(-0.0001515710706549289), output: -0.0007294662699171764 }, PIDState { time: 10158.08, dt: 0.020000000000436557, error: Some(-0.0004193310922951943), p: Some(-0.0006289966384427914), i: Some(0.0), d: Some(-0.00014728411551683782), output: -0.0007762807539596292 }, PIDState { time: 10158.1, dt: 0.020000000000436557, error: Some(-0.0004499535033065938), p: Some(-0.0006749302549598907), i: Some(0.0), d: Some(-0.0001400810089042867), output: -0.0008150112638641774 }, PIDState { time: 10158.12, dt: 0.020000000000436557, error: Some(-0.0004321766324237586), p: Some(-0.0006482649486356379), i: Some(0.0), d: Some(-0.00013015171464243316), output: -0.000778416663278071 }, PIDState { time: 10158.14, dt: 0.019999999998617568, error: Some(-0.0004542946306680812), p: Some(-0.0006814419460021218), i: Some(0.0), d: Some(-0.000117738265386403), output: -0.0007991802113885248 }, PIDState { time: 10158.16, dt: 0.020000000000436557, error: Some(-0.0004715406951490697), p: Some(-0.0007073110427236046), i: Some(0.0), d: Some(-0.00010312903425425486), output: -0.0008104400769778595 }, PIDState { time: 10158.18, dt: 0.020000000000436557, error: Some(-0.0004836380880190033), p: Some(-0.000725457132028505), i: Some(0.0), d: Some(-8.665199848752314e-5), output: -0.0008121091305160281 }, PIDState { time: 10158.2, dt: 0.020000000000436557, error: Some(-0.0004904184794417565), p: Some(-0.0007356277191626348), i: Some(0.0), d: Some(-6.866762861059454e-5), output: -0.0008042953477732294 }, PIDState { time: 10158.22, dt: 0.019999999998617568, error: Some(-0.0004844620869626781), p: Some(-0.0007266931304440172), i: Some(0.0), d: Some(-4.9561421159595285e-5), output: -0.0007762545516036125 }, PIDState { time: 10158.24, dt: 0.020000000000436557, error: Some(-0.00048054146705352185), p: Some(-0.0007208122005802828), i: Some(0.0), d: Some(-2.9735674620902526e-5), output: -0.0007505478752011854 }, PIDState { time: 10158.26, dt: 0.020000000000436557, error: Some(-0.0004714523610362398), p: Some(-0.0007071785415543597), i: Some(0.0), d: Some(-9.600929969880171e-6), output: -0.0007167794715242399 }, PIDState { time: 10158.28, dt: 0.020000000000436557, error: Some(-0.0004574548811313306), p: Some(-0.0006861823216969959), i: Some(0.0), d: Some(1.0432082999958475e-5), output: -0.0006757502386970374 }, PIDState { time: 10158.3, dt: 0.019999999998617568, error: Some(-0.0004389045311636586), p: Some(-0.0006583567967454879), i: Some(0.0), d: Some(2.9960077038630108e-5), output: -0.0006283967197068577 }, PIDState { time: 10158.32, dt: 0.020000000000436557, error: Some(-4.1299163893157576e-5), p: Some(-6.194874583973636e-5), i: Some(0.0), d: Some(4.85951620118013e-5), output: -1.3353583827935065e-5 }, PIDState { time: 10158.34, dt: 0.020000000000436557, error: Some(-1.5048610330303802e-5), p: Some(-2.2572915495455703e-5), i: Some(0.0), d: Some(6.597267399141869e-5), output: 4.339975849596299e-5 }, PIDState { time: 10158.36, dt: 0.020000000000436557, error: Some(1.4207473089764e-5), p: Some(2.1311209634646e-5), i: Some(0.0), d: Some(8.17584980394105e-5), output: 0.0001030697076740565 }, PIDState { time: 10158.38, dt: 0.019999999998617568, error: Some(4.5831537731452765e-5), p: Some(6.874730659717915e-5), i: Some(0.0), d: Some(9.565562816317849e-5), output: 0.00016440293476035762 }, PIDState { time: 10158.4, dt: 0.020000000000436557, error: Some(7.9148196401993e-5), p: Some(0.0001187222946029895), i: Some(0.0), d: Some(0.00010740978431257048), output: 0.00022613207891556 }, PIDState { time: 10158.42, dt: 0.020000000000436557, error: Some(0.00011751121613270965), p: Some(0.00017626682419906448), i: Some(0.0), d: Some(0.00011681430769299677), output: 0.00029308113189206123 }, PIDState { time: 10158.44, dt: 0.020000000000436557, error: Some(0.00015210478341974587), p: Some(0.0002281571751296188), i: Some(0.0), d: Some(0.0001237137209625161), output: 0.0003518708960921349 }, PIDState { time: 10158.46, dt: 0.019999999998617568, error: Some(0.00018627754475085412), p: Some(0.0002794163171262812), i: Some(0.0), d: Some(0.0001280057707111353), output: 0.0004074220878374165 }, PIDState { time: 10158.48, dt: 0.020000000000436557, error: Some(0.00021934432629647227), p: Some(0.0003290164894447084), i: Some(0.0), d: Some(0.00012964255332239218), output: 0.00045865904276710056 }, PIDState { time: 10158.5, dt: 0.020000000000436557, error: Some(0.0002506525528791631), p: Some(0.00037597882931874466), i: Some(0.0), d: Some(0.0001286307824828415), output: 0.0005046096118015862 }, PIDState { time: 10158.52, dt: 0.020000000000436557, error: Some(0.0002819915029214637), p: Some(0.00042298725438219553), i: Some(0.0), d: Some(0.00012503085027366592), output: 0.0005480181046558614 }, PIDState { time: 10158.54, dt: 0.020000000000436557, error: Some(0.000308018285771372), p: Some(0.00046202742865705804), i: Some(0.0), d: Some(0.00011895465246789297), output: 0.000580982081124951 }, PIDState { time: 10158.56, dt: 0.019999999998617568, error: Some(0.0003306457883873598), p: Some(0.0004959686825810397), i: Some(0.0), d: Some(0.00011056228990097533), output: 0.000606530972482015 }, PIDState { time: 10158.58, dt: 0.020000000000436557, error: Some(0.00034946679446365425), p: Some(0.0005242001916954814), i: Some(0.0), d: Some(0.00010005802848917992), output: 0.0006242582201846613 }, PIDState { time: 10158.6, dt: 0.020000000000436557, error: Some(0.0003641571805448607), p: Some(0.000546235770817291), i: Some(0.0), d: Some(8.768573813860415e-5), output: 0.0006339215089558952 }, PIDState { time: 10158.62, dt: 0.020000000000436557, error: Some(0.0002917582490007814), p: Some(0.0004376373735011721), i: Some(0.0), d: Some(7.3723319630586e-5), output: 0.0005113606931317581 }, PIDState { time: 10158.64, dt: 0.019999999998617568, error: Some(0.0002975700917486751), p: Some(0.00044635513762301265), i: Some(0.0), d: Some(5.84764002232341e-5), output: 0.0005048315378462468 }, PIDState { time: 10158.66, dt: 0.020000000000436557, error: Some(0.00029881904458452235), p: Some(0.00044822856687678353), i: Some(0.0), d: Some(4.227186276494677e-5), output: 0.0004905004296417303 }, PIDState { time: 10158.68, dt: 0.020000000000436557, error: Some(0.00029554647378896015), p: Some(0.0004433197106834402), i: Some(0.0), d: Some(2.545095422144303e-5), output: 0.00046877066490488324 }, PIDState { time: 10158.7, dt: 0.020000000000436557, error: Some(0.0002878847488632652), p: Some(0.0004318271232948978), i: Some(0.0), d: Some(8.362253380915246e-6), output: 0.00044018937667581306 }, PIDState { time: 10158.72, dt: 0.019999999998617568, error: Some(0.0002706028127892196), p: Some(0.0004059042191838294), i: Some(0.0), d: Some(-8.64516079853943e-6), output: 0.00039725905838529 }, PIDState { time: 10158.74, dt: 0.020000000000436557, error: Some(0.00025490238748240857), p: Some(0.00038235358122361285), i: Some(0.0), d: Some(-2.522854779480374e-5), output: 0.0003571250334288091 }, PIDState { time: 10158.76, dt: 0.020000000000436557, error: Some(0.00023570825555081776), p: Some(0.00035356238332622664), i: Some(0.0), d: Some(-4.1058231108621355e-5), output: 0.0003125041522176053 }, PIDState { time: 10158.78, dt: 0.020000000000436557, error: Some(0.00021346086632864636), p: Some(0.00032019129949296954), i: Some(0.0), d: Some(-5.582413931152296e-5), output: 0.00026436716018144656 }, PIDState { time: 10158.8, dt: 0.019999999998617568, error: Some(0.0001886557226269403), p: Some(0.00028298358394041045), i: Some(0.0), d: Some(-6.924221435091504e-5), output: 0.00021374136958949541 }, PIDState { time: 10158.82, dt: 0.020000000000436557, error: Some(-0.00012096444101118708), p: Some(-0.00018144666151678063), i: Some(0.0), d: Some(-8.106010174994326e-5), output: -0.0002625067632667239 }, PIDState { time: 10158.84, dt: 0.020000000000436557, error: Some(-0.00014923102807640198), p: Some(-0.00022384654211460298), i: Some(0.0), d: Some(-9.106164461175798e-5), output: -0.00031490818672636096 }, PIDState { time: 10158.86, dt: 0.020000000000436557, error: Some(-0.0001783477379519588), p: Some(-0.0002675216069279382), i: Some(0.0), d: Some(-9.907067872158723e-5), output: -0.0003665922856495254 }, PIDState { time: 10158.88, dt: 0.019999999998617568, error: Some(-0.00020771244856357396), p: Some(-0.00031156867284536094), i: Some(0.0), d: Some(-0.00010495428517075574), output: -0.0004165229580161167 }, PIDState { time: 10158.9, dt: 0.020000000000436557, error: Some(-0.00023672681567635245), p: Some(-0.0003550902235145287), i: Some(0.0), d: Some(-0.00010862488052216516), output: -0.0004637151040366938 }, PIDState { time: 10158.92, dt: 0.020000000000436557, error: Some(-0.0002647944220207227), p: Some(-0.000397191633031084), i: Some(0.0), d: Some(-0.00011004121261709991), output: -0.0005072328456481839 }, PIDState { time: 10158.94, dt: 0.020000000000436557, error: Some(-0.0002913897161977569), p: Some(-0.00043708457429663533), i: Some(0.0), d: Some(-0.0001092084665049813), output: -0.0005462930408016166 }, PIDState { time: 10158.96, dt: 0.019999999998617568, error: Some(-0.00031598216101066945), p: Some(-0.0004739732415160042), i: Some(0.0), d: Some(-0.0001061773246757855), output: -0.0005801505661917896 }, PIDState { time: 10158.98, dt: 0.020000000000436557, error: Some(-0.00033810403090285546), p: Some(-0.0005071560463542832), i: Some(0.0), d: Some(-0.00010104221932943523), output: -0.0006081982656837184 }, PIDState { time: 10159.0, dt: 0.020000000000436557, error: Some(-0.0003573445692684335), p: Some(-0.0005360168539026502), i: Some(0.0), d: Some(-9.393876533783192e-5), output: -0.0006299556192404822 }, PIDState { time: 10159.02, dt: 0.020000000000436557, error: Some(-0.00027921516136911184), p: Some(-0.00041882274205366776), i: Some(0.0), d: Some(-8.504020479465255e-5), output: -0.0005038629468483203 }, PIDState { time: 10159.04, dt: 0.020000000000436557, error: Some(-0.00029172340128774676), p: Some(-0.00043758510193162015), i: Some(0.0), d: Some(-7.455322973187543e-5), output: -0.0005121383316634956 }, PIDState { time: 10159.06, dt: 0.019999999998617568, error: Some(-0.0003005262060213204), p: Some(-0.0004507893090319806), i: Some(0.0), d: Some(-6.271345052118098e-5), output: -0.0005135027595531616 }, PIDState { time: 10159.08, dt: 0.020000000000436557, error: Some(-0.0003055004619811341), p: Some(-0.0004582506929717012), i: Some(0.0), d: Some(-4.9780350395706354e-5), output: -0.0005080310433674076 }, PIDState { time: 10159.1, dt: 0.020000000000436557, error: Some(-0.00030660173395256896), p: Some(-0.00045990260092885343), i: Some(0.0), d: Some(-3.6031614078429024e-5), output: -0.0004959342150072824 }, PIDState { time: 10159.12, dt: 0.020000000000436557, error: Some(-0.00029932220499810647), p: Some(-0.0004489833074971597), i: Some(0.0), d: Some(-2.1757036998286977e-5), output: -0.0004707403444954467 }, PIDState { time: 10159.14, dt: 0.019999999998617568, error: Some(-0.00029285786213119336), p: Some(-0.00043928679319679004), i: Some(0.0), d: Some(-7.2525115331134955e-6), output: -0.00044653930472990356 }, PIDState { time: 10159.16, dt: 0.020000000000436557, error: Some(-0.0002828517219305854), p: Some(-0.0004242775828958781), i: Some(0.0), d: Some(7.185802418117803e-6), output: -0.0004170917804777603 }, PIDState { time: 10159.18, dt: 0.020000000000436557, error: Some(-0.0002695587753435702), p: Some(-0.0004043381630153553), i: Some(0.0), d: Some(2.1267082510961125e-5), output: -0.0003830710805043942 }, PIDState { time: 10159.2, dt: 0.020000000000436557, error: Some(-0.0002532965278628646), p: Some(-0.0003799447917942969), i: Some(0.0), d: Some(3.4711424901243395e-5), output: -0.0003452333668930535 }, PIDState { time: 10159.22, dt: 0.019999999998617568, error: Some(9.524076922312608e-6), p: Some(1.4286115383468911e-5), i: Some(0.0), d: Some(4.7255624127763415e-5), output: 6.154173951123233e-5 }, PIDState { time: 10159.24, dt: 0.020000000000436557, error: Some(3.0558369706085164e-5), p: Some(4.583755455912775e-5), i: Some(0.0), d: Some(5.8658501879879974e-5), output: 0.00010449605643900772 }, PIDState { time: 10159.26, dt: 0.020000000000436557, error: Some(5.331016276846623e-5), p: Some(7.996524415269934e-5), i: Some(0.0), d: Some(6.870548591366837e-5), output: 0.0001486707300663677 }, PIDState { time: 10159.28, dt: 0.020000000000436557, error: Some(7.729352163866887e-5), p: Some(0.00011594028245800331), i: Some(0.0), d: Some(7.721271332519468e-5), output: 0.000193152995783198 }, PIDState { time: 10159.3, dt: 0.019999999998617568, error: Some(0.0001020048586840433), p: Some(0.00015300728802606495), i: Some(0.0), d: Some(8.40305659670915e-5), output: 0.00023703785399315647 }, PIDState { time: 10159.32, dt: 0.020000000000436557, error: Some(0.0001292567628783381), p: Some(0.00019388514431750714), i: Some(0.0), d: Some(8.904607769150972e-5), output: 0.00028293122200901685 }, PIDState { time: 10159.34, dt: 0.020000000000436557, error: Some(0.00015389390876915932), p: Some(0.00023084086315373897), i: Some(0.0), d: Some(9.218447741858172e-5), output: 0.0003230253405723207 }, PIDState { time: 10159.36, dt: 0.020000000000436557, error: Some(0.00017774569371935278), p: Some(0.0002666185405790292), i: Some(0.0), d: Some(9.341019082204754e-5), output: 0.0003600287314010767 }, PIDState { time: 10159.38, dt: 0.019999999998617568, error: Some(0.00020034129082110996), p: Some(0.00030051193623166494), i: Some(0.0), d: Some(9.272695846378968e-5), output: 0.0003932388946954546 }, PIDState { time: 10159.4, dt: 0.020000000000436557, error: Some(0.00022124217700507376), p: Some(0.00033186326550761064), i: Some(0.0), d: Some(9.017718479022093e-5), output: 0.00042204045029783157 }, PIDState { time: 10159.42, dt: 0.020000000000436557, error: Some(0.00024033097881695498), p: Some(0.00036049646822543246), i: Some(0.0), d: Some(8.584042818343785e-5), output: 0.0004463368964088703 }, PIDState { time: 10159.44, dt: 0.020000000000436557, error: Some(0.0002566970459428747), p: Some(0.000385045568914312), i: Some(0.0), d: Some(7.983103198276342e-5), output: 0.00046487660089707545 }, PIDState { time: 10159.46, dt: 0.019999999998617568, error: Some(0.000270326160984255), p: Some(0.0004054892414763825), i: Some(0.0), d: Some(7.229538010747722e-5), output: 0.0004777846215838597 }, PIDState { time: 10159.48, dt: 0.020000000000436557, error: Some(0.00028098266507348146), p: Some(0.0004214739976102222), i: Some(0.0), d: Some(6.340855599284694e-5), output: 0.00048488255360306916 }, PIDState { time: 10159.5, dt: 0.020000000000436557, error: Some(0.000288494902560929), p: Some(0.00043274235384139353), i: Some(0.0), d: Some(5.337023423803204e-5), output: 0.00048611258807942557 }, PIDState { time: 10159.52, dt: 0.020000000000436557, error: Some(0.00018842791420940752), p: Some(0.0002826418713141113), i: Some(0.0), d: Some(4.240021990533875e-5), output: 0.00032504209121945 }, PIDState { time: 10159.54, dt: 0.020000000000436557, error: Some(0.00018940061762749705), p: Some(0.00028410092644124557), i: Some(0.0), d: Some(3.073372514927432e-5), output: 0.0003148346515905199 }, PIDState { time: 10159.56, dt: 0.019999999998617568, error: Some(0.0001871127850360671), p: Some(0.00028066917755410065), i: Some(0.0), d: Some(1.8616596459859872e-5), output: 0.0002992857740139605 }, PIDState { time: 10159.58, dt: 0.020000000000436557, error: Some(0.00018165820443608038), p: Some(0.0002724873066541206), i: Some(0.0), d: Some(6.3003046646563595e-6), output: 0.0002787876113187769 }, PIDState { time: 10159.6, dt: 0.020000000000436557, error: Some(0.00017319358808652596), p: Some(0.00025979038212978894), i: Some(0.0), d: Some(-5.9632972956723165e-6), output: 0.0002538270848341166 }, PIDState { time: 10159.62, dt: 0.020000000000436557, error: Some(0.00015808277964043937), p: Some(0.00023712416946065906), i: Some(0.0), d: Some(-1.7926925621839397e-5), output: 0.00021919724383881966 }, PIDState { time: 10159.64, dt: 0.019999999998617568, error: Some(0.00014429825993902967), p: Some(0.0002164473899085445), i: Some(0.0), d: Some(-2.9352686248542387e-5), output: 0.00018709470366000213 }, PIDState { time: 10159.66, dt: 0.020000000000436557, error: Some(0.00012830455615542302), p: Some(0.00019245683423313453), i: Some(0.0), d: Some(-4.001686621426645e-5), output: 0.0001524399680188681 }, PIDState { time: 10159.68, dt: 0.020000000000436557, error: Some(0.00011045838069367875), p: Some(0.00016568757104051812), i: Some(0.0), d: Some(-4.971432410451582e-5), output: 0.00011597324693600231 }, PIDState { time: 10159.7, dt: 0.020000000000436557, error: Some(9.114845307935104e-5), p: Some(0.00013672267961902657), i: Some(0.0), d: Some(-5.826242719590076e-5), output: 7.846025242312581e-5 }, PIDState { time: 10159.72, dt: 0.019999999998617568, error: Some(-0.00010509425045558685), p: Some(-0.00015764137568338027), i: Some(0.0), d: Some(-6.550415172219118e-5), output: -0.00022314552740557145 }, PIDState { time: 10159.74, dt: 0.020000000000436557, error: Some(-0.00012607661402712356), p: Some(-0.00018911492104068534), i: Some(0.0), d: Some(-7.131135839409051e-5), output: -0.00026042627943477585 }, PIDState { time: 10159.76, dt: 0.020000000000436557, error: Some(-0.00014724795910578403), p: Some(-0.00022087193865867605), i: Some(0.0), d: Some(-7.558799512673548e-5), output: -0.0002964599337854115 }, PIDState { time: 10159.78, dt: 0.020000000000436557, error: Some(-0.00016817660129384016), p: Some(-0.00025226490194076023), i: Some(0.0), d: Some(-7.827074745139138e-5), output: -0.0003305356493921516 }, PIDState { time: 10159.8, dt: 0.019999999998617568, error: Some(-0.00018844245493797318), p: Some(-0.00028266368240695977), i: Some(0.0), d: Some(-7.932903871853677e-5), output: -0.00036199272112549656 }, PIDState { time: 10159.82, dt: 0.020000000000436557, error: Some(-0.00020772219487019683), p: Some(-0.00031158329230529525), i: Some(0.0), d: Some(-7.876559136929649e-5), output: -0.0003903488836745917 }, PIDState { time: 10159.84, dt: 0.020000000000436557, error: Some(-0.00022548918276475705), p: Some(-0.00033823377414713557), i: Some(0.0), d: Some(-7.661605292048229e-5), output: -0.00041484982706761785 }, PIDState { time: 10159.86, dt: 0.020000000000436557, error: Some(-0.00024148161632826792), p: Some(-0.0003622224244924019), i: Some(0.0), d: Some(-7.294756670222999e-5), output: -0.00043516999119463186 }, PIDState { time: 10159.88, dt: 0.019999999998617568, error: Some(-0.00025540209374676215), p: Some(-0.0003831031406201432), i: Some(0.0), d: Some(-6.785679720843067e-5), output: -0.0004509599378285739 }, PIDState { time: 10159.9, dt: 0.020000000000436557, error: Some(-0.00026699938575913684), p: Some(-0.00040049907863870526), i: Some(0.0), d: Some(-6.146771803892647e-5), output: -0.0004619667966776317 }, PIDState { time: 10159.92, dt: 0.020000000000436557, error: Some(-0.0001913538203661136), p: Some(-0.0002870307305491704), i: Some(0.0), d: Some(-5.392890918743116e-5), output: -0.00034095963973660153 }, PIDState { time: 10159.94, dt: 0.020000000000436557, error: Some(-0.00019775819135815775), p: Some(-0.00029663728703723663), i: Some(0.0), d: Some(-4.5410121900797576e-5), output: -0.0003420474089380342 }, PIDState { time: 10159.96, dt: 0.019999999998617568, error: Some(-0.00020140223845345473), p: Some(-0.0003021033576801821), i: Some(0.0), d: Some(-3.609817216238277e-5), output: -0.0003382015298425649 }, PIDState { time: 10159.98, dt: 0.020000000000436557, error: Some(-0.0002022528382914085), p: Some(-0.00030337925743711275), i: Some(0.0), d: Some(-2.6192910192772094e-5), output: -0.00032957216762988483 }, PIDState { time: 10160.0, dt: 0.020000000000436557, error: Some(-0.00020033367881847064), p: Some(-0.00030050051822770596), i: Some(0.0), d: Some(-1.590325621349222e-5), output: -0.00031640377444119817 }, PIDState { time: 10160.02, dt: 0.020000000000436557, error: Some(-0.0001915720483555705), p: Some(-0.00028735807253335577), i: Some(0.0), d: Some(-5.442833088188794e-6), output: -0.00029280090562154457 }, PIDState { time: 10160.04, dt: 0.020000000000436557, error: Some(-0.00018440496795542327), p: Some(-0.0002766074519331349), i: Some(0.0), d: Some(4.974344406957066e-6), output: -0.0002716331075261778 }, PIDState { time: 10160.06, dt: 0.019999999998617568, error: Some(-0.00017486282255564645), p: Some(-0.00026229423383346967), i: Some(0.0), d: Some(1.5138112485632523e-5), output: -0.00024715612134783716 }, PIDState { time: 10160.08, dt: 0.020000000000436557, error: Some(-0.00016317429105235093), p: Some(-0.0002447614365785264), i: Some(0.0), d: Some(2.4846324574460556e-5), output: -0.00021991511200406585 }, PIDState { time: 10160.1, dt: 0.020000000000436557, error: Some(-0.00014960771126452943), p: Some(-0.00022441156689679415), i: Some(0.0), d: Some(3.390874592717573e-5), output: -0.0001905028209696184 }, PIDState { time: 10160.12, dt: 0.020000000000436557, error: Some(3.6217015921408136e-5), p: Some(5.43255238821122e-5), i: Some(0.0), d: Some(4.215103266826e-5), output: 9.647655655037221e-5 }, PIDState { time: 10160.14, dt: 0.019999999998617568, error: Some(5.260526714785663e-5), p: Some(7.890790072178494e-5), i: Some(0.0), d: Some(4.9418257351102444e-5), output: 0.00012832615807288738 }, PIDState { time: 10160.16, dt: 0.020000000000436557, error: Some(6.988919284792172e-5), p: Some(0.00010483378927188258), i: Some(0.0), d: Some(5.55776109969286e-5), output: 0.00016041140026881118 }, PIDState { time: 10160.18, dt: 0.020000000000436557, error: Some(8.770542961636374e-5), p: Some(0.0001315581444245456), i: Some(0.0), d: Some(6.0520653851110885e-5), output: 0.0001920787982756565 }, PIDState { time: 10160.2, dt: 0.020000000000436557, error: Some(0.00010568566776936184), p: Some(0.00015852850165404275), i: Some(0.0), d: Some(6.416522106306836e-5), output: 0.0002226937227171111 }, PIDState { time: 10160.22, dt: 0.019999999998617568, error: Some(0.0001244835536476363), p: Some(0.00018672533047145445), i: Some(0.0), d: Some(6.645683658453175e-5), output: 0.0002531821670559862 }, PIDState { time: 10160.24, dt: 0.020000000000436557, error: Some(0.0001417022555129377), p: Some(0.00021255338326940654), i: Some(0.0), d: Some(6.736929405626253e-5), output: 0.00027992267732566907 }, PIDState { time: 10160.26, dt: 0.020000000000436557, error: Some(0.0001580214568316085), p: Some(0.00023703218524741276), i: Some(0.0), d: Some(6.69046055194425e-5), output: 0.00030393679076685525 }, PIDState { time: 10160.28, dt: 0.020000000000436557, error: Some(0.00017312415450292107), p: Some(0.0002596862317543816), i: Some(0.0), d: Some(6.509256206729069e-5), output: 0.0003247787938216723 }, PIDState { time: 10160.3, dt: 0.019999999998617568, error: Some(0.00018672252462641203), p: Some(0.00028008378693961805), i: Some(0.0), d: Some(6.198974319825927e-5), output: 0.0003420735301378773 }, PIDState { time: 10160.32, dt: 0.020000000000436557, error: Some(0.00019822244181608162), p: Some(0.00029733366272412243), i: Some(0.0), d: Some(5.767798202712579e-5), output: 0.00035501164475124823 }, PIDState { time: 10160.34, dt: 0.020000000000436557, error: Some(0.00020809260344183123), p: Some(0.00031213890516274684), i: Some(0.0), d: Some(5.226243413227187e-5), output: 0.0003644013392950187 }, PIDState { time: 10160.36, dt: 0.020000000000436557, error: Some(0.00021582106938368428), p: Some(0.0003237316040755264), i: Some(0.0), d: Some(4.586908739998971e-5), output: 0.00036960069147551615 }, PIDState { time: 10160.38, dt: 0.019999999998617568, error: Some(0.0002212826191915901), p: Some(0.00033192392878738514), i: Some(0.0), d: Some(3.864166761930356e-5), output: 0.0003705655964066887 }, PIDState { time: 10160.4, dt: 0.020000000000436557, error: Some(0.00022439995102344068), p: Some(0.000336599926535161), i: Some(0.0), d: Some(3.073844109719797e-5), output: 0.000367338367632359 }, PIDState { time: 10160.42, dt: 0.020000000000436557, error: Some(0.00013648745238455107), p: Some(0.0002047311785768266), i: Some(0.0), d: Some(2.2329111855936916e-5), output: 0.00022706029043276352 }, PIDState { time: 10160.44, dt: 0.020000000000436557, error: Some(0.00013487877374650237), p: Some(0.00020231816061975355), i: Some(0.0), d: Some(1.3591232359142199e-5), output: 0.00021590939297889576 }, PIDState { time: 10160.46, dt: 0.019999999998617568, error: Some(0.00013098351530760333), p: Some(0.000196475272961405), i: Some(0.0), d: Some(4.706205466407767e-6), output: 0.00020118147842781276 }, PIDState { time: 10160.48, dt: 0.020000000000436557, error: Some(0.00012491414718979188), p: Some(0.00018737122078468782), i: Some(0.0), d: Some(-4.144267086474643e-6), output: 0.00018322695369821319 }, PIDState { time: 10160.5, dt: 0.020000000000436557, error: Some(0.00011682510731800266), p: Some(0.000175237660977004), i: Some(0.0), d: Some(-1.2781642748189227e-5), output: 0.00016245601822881476 }, PIDState { time: 10160.52, dt: 0.020000000000436557, error: Some(0.00010287226430599761), p: Some(0.0001543083964589964), i: Some(0.0), d: Some(-2.10340834819218e-5), output: 0.0001332743129770746 }, PIDState { time: 10160.54, dt: 0.020000000000436557, error: Some(9.135906199161936e-5), p: Some(0.00013703859298742904), i: Some(0.0), d: Some(-2.8739837111096587e-5), output: 0.00010829875587633246 }, PIDState { time: 10160.56, dt: 0.019999999998617568, error: Some(7.850425838856756e-5), p: Some(0.00011775638758285134), i: Some(0.0), d: Some(-3.575060419776855e-5), output: 8.200578338508278e-5 }, PIDState { time: 10160.58, dt: 0.020000000000436557, error: Some(6.458799310410379e-5), p: Some(9.688198965615569e-5), i: Some(0.0), d: Some(-4.193439397484204e-5), output: 5.494759568131365e-5 }, PIDState { time: 10160.6, dt: 0.020000000000436557, error: Some(4.990758048474542e-5), p: Some(7.486137072711813e-5), i: Some(0.0), d: Some(-4.717796262097874e-5), output: 2.7683408106139383e-5 }, PIDState { time: 10160.62, dt: 0.020000000000436557, error: Some(-9.718056992488733e-5), p: Some(-0.000145770854887331), i: Some(0.0), d: Some(-5.138885185549674e-5), output: -0.00019715970674282773 }, PIDState { time: 10160.64, dt: 0.019999999998617568, error: Some(-0.00011245856701909418), p: Some(-0.00016868785052864127), i: Some(0.0), d: Some(-5.449689570468061e-5), output: -0.00022318474623332188 }, PIDState { time: 10160.66, dt: 0.020000000000436557, error: Some(-0.0001275670809335605), p: Some(-0.00019135062140034076), i: Some(0.0), d: Some(-5.6455348991839836e-5), output: -0.0002478059703921806 }, PIDState { time: 10160.68, dt: 0.020000000000436557, error: Some(-0.00014220276523223274), p: Some(-0.0002133041478483491), i: Some(0.0), d: Some(-5.724145799917959e-5), output: -0.0002705456058475287 }, PIDState { time: 10160.7, dt: 0.020000000000436557, error: Some(-0.00015607612834210582), p: Some(-0.00023411419251315874), i: Some(0.0), d: Some(-5.6856594538555485e-5), output: -0.0002909707870517142 }, PIDState { time: 10160.72, dt: 0.019999999998617568, error: Some(-0.0001681510619776505), p: Some(-0.00025222659296647576), i: Some(0.0), d: Some(-5.5325916046677264e-5), output: -0.000307552509013153 }, PIDState { time: 10160.74, dt: 0.020000000000436557, error: Some(-0.0001797157978330466), p: Some(-0.0002695736967495699), i: Some(0.0), d: Some(-5.269742892507504e-5), output: -0.0003222711256746449 }, PIDState { time: 10160.76, dt: 0.020000000000436557, error: Some(-0.00018978835917066172), p: Some(-0.0002846825387559926), i: Some(0.0), d: Some(-4.904056633252647e-5), output: -0.00033372310508851907 }, PIDState { time: 10160.78, dt: 0.020000000000436557, error: Some(-0.00019818661563379691), p: Some(-0.00029727992345069537), i: Some(0.0), d: Some(-4.4444467833334365e-5), output: -0.00034172439128402976 }, PIDState { time: 10160.8, dt: 0.019999999998617568, error: Some(-0.00020476536740593465), p: Some(-0.000307148051108902), i: Some(0.0), d: Some(-3.9016007027470125e-5), output: -0.0003461640581363721 }, PIDState { time: 10160.82, dt: 0.020000000000436557, error: Some(-0.00014205348673042295), p: Some(-0.00021308023009563443), i: Some(0.0), d: Some(-3.2877372598856246e-5), output: -0.00024595760269449066 }, PIDState { time: 10160.84, dt: 0.020000000000436557, error: Some(-0.0001447142134407553), p: Some(-0.00021707132016113295), i: Some(0.0), d: Some(-2.6163315672690065e-5), output: -0.000243234635833823 }, PIDState { time: 10160.86, dt: 0.020000000000436557, error: Some(-0.00014535845108606948), p: Some(-0.00021803767662910423), i: Some(0.0), d: Some(-1.9018290988468073e-5), output: -0.0002370559676175723 }, PIDState { time: 10160.88, dt: 0.019999999998617568, error: Some(-0.0001440025978106385), p: Some(-0.00021600389671595777), i: Some(0.0), d: Some(-1.1593283703447191e-5), output: -0.00022759718041940496 }, PIDState { time: 10160.9, dt: 0.020000000000436557, error: Some(-0.00014070359332794824), p: Some(-0.00021105538999192236), i: Some(0.0), d: Some(-4.042627823347673e-6), output: -0.00021509801781527003 }, PIDState { time: 10160.92, dt: 0.020000000000436557, error: Some(-0.00013203895649621655), p: Some(-0.00019805843474432483), i: Some(0.0), d: Some(3.478993739810345e-6), output: -0.0001945794410045145 }, PIDState { time: 10160.94, dt: 0.020000000000436557, error: Some(-0.00012517526470634532), p: Some(-0.00018776289705951799), i: Some(0.0), d: Some(1.0819803509327893e-5), output: -0.0001769430935501901 }, PIDState { time: 10160.96, dt: 0.019999999998617568, error: Some(-0.0001167593657308702), p: Some(-0.0001751390485963053), i: Some(0.0), d: Some(1.783391988598251e-5), output: -0.00015730512871032278 }, PIDState { time: 10160.98, dt: 0.020000000000436557, error: Some(-0.0001069846725697543), p: Some(-0.00016047700885463145), i: Some(0.0), d: Some(2.4383916862138803e-5), output: -0.00013609309199249264 }, PIDState { time: 10161.0, dt: 0.020000000000436557, error: Some(-9.606915550261497e-5), p: Some(-0.00014410373325392245), i: Some(0.0), d: Some(3.034365281723389e-5), output: -0.00011376008043668855 }, PIDState { time: 10161.02, dt: 0.020000000000436557, error: Some(5.3150695210002485e-5), p: Some(7.972604281500373e-5), i: Some(0.0), d: Some(3.5601064608491605e-5), output: 0.00011532710742349534 }, PIDState { time: 10161.04, dt: 0.020000000000436557, error: Some(6.562029506923528e-5), p: Some(9.843044260385292e-5), i: Some(0.0), d: Some(4.0060214232717055e-5), output: 0.00013849065683656998 }, PIDState { time: 10161.06, dt: 0.019999999998617568, error: Some(7.847832660626275e-5), p: Some(0.00011771748990939412), i: Some(0.0), d: Some(4.3642634329081395e-5), output: 0.0001613601242384755 }, PIDState { time: 10161.08, dt: 0.020000000000436557, error: Some(9.14585059273304e-5), p: Some(0.0001371877588909956), i: Some(0.0), d: Some(4.628853179383021e-5), output: 0.0001834762906848258 }, PIDState { time: 10161.1, dt: 0.020000000000436557, error: Some(0.0001042961255225544), p: Some(0.0001564441882838316), i: Some(0.0), d: Some(4.795790371428153e-5), output: 0.00020440209199811313 }, PIDState { time: 10161.12, dt: 0.020000000000436557, error: Some(0.00011685683292253501), p: Some(0.00017528524938380252), i: Some(0.0), d: Some(4.86312573157664e-5), output: 0.00022391650669956892 }, PIDState { time: 10161.14, dt: 0.019999999998617568, error: Some(0.00012864824969652244), p: Some(0.00019297237454478366), i: Some(0.0), d: Some(4.8309811442086715e-5), output: 0.00024128218598687038 }, PIDState { time: 10161.16, dt: 0.020000000000436557, error: Some(0.00013956438819359707), p: Some(0.0002093465822903956), i: Some(0.0), d: Some(4.701499676248305e-5), output: 0.00025636157905287865 }, PIDState { time: 10161.18, dt: 0.020000000000436557, error: Some(0.00014939713929114362), p: Some(0.00022409570893671543), i: Some(0.0), d: Some(4.478748122602462e-5), output: 0.0002688831901627401 }, PIDState { time: 10161.2, dt: 0.020000000000436557, error: Some(0.00015796350084194832), p: Some(0.00023694525126292248), i: Some(0.0), d: Some(4.168612405162311e-5), output: 0.0002786313753145456 }, PIDState { time: 10161.22, dt: 0.019999999998617568, error: Some(0.0001346925202995175), p: Some(0.00020203878044927626), i: Some(0.0), d: Some(3.7786645717268175e-5), output: 0.00023982542616654442 }, PIDState { time: 10161.24, dt: 0.020000000000436557, error: Some(0.00014029277227854686), p: Some(0.0002104391584178203), i: Some(0.0), d: Some(3.317974784952394e-5), output: 0.00024361890626734423 }, PIDState { time: 10161.26, dt: 0.020000000000436557, error: Some(0.00014425738675188926), p: Some(0.0002163860801278339), i: Some(0.0), d: Some(2.7968993791435805e-5), output: 0.0002443550739192697 }, PIDState { time: 10161.28, dt: 0.020000000000436557, error: Some(0.00014652988261462663), p: Some(0.00021979482392193994), i: Some(0.0), d: Some(2.2268586663422927e-5), output: 0.00024206341058536287 }, PIDState { time: 10161.3, dt: 0.019999999998617568, error: Some(0.00014708896311399489), p: Some(0.00022063344467099233), i: Some(0.0), d: Some(1.620090533648983e-5), output: 0.00023683435000748215 }, PIDState { time: 10161.32, dt: 0.020000000000436557, error: Some(0.00014044750569855435), p: Some(0.00021067125854783153), i: Some(0.0), d: Some(9.89401331535206e-6), output: 0.0002205652718631836 }, PIDState { time: 10161.34, dt: 0.020000000000436557, error: Some(0.0001376551569581136), p: Some(0.00020648273543717038), i: Some(0.0), d: Some(3.4790057026745302e-6), output: 0.0002099617411398449 }, PIDState { time: 10161.36, dt: 0.020000000000436557, error: Some(0.00013329134800098286), p: Some(0.00019993702200147428), i: Some(0.0), d: Some(-2.912864692585486e-6), output: 0.0001970241573088888 }, PIDState { time: 10161.38, dt: 0.019999999998617568, error: Some(0.0001274674751616245), p: Some(0.00019120121274243673), i: Some(0.0), d: Some(-9.152737077348414e-6), output: 0.00018204847566508832 }, PIDState { time: 10161.4, dt: 0.020000000000436557, error: Some(0.00012032295099240198), p: Some(0.00018048442648860297), i: Some(0.0), d: Some(-1.511646346554019e-5), output: 0.00016536796302306277 }, PIDState { time: 10161.42, dt: 0.020000000000436557, error: Some(-1.238204183515168e-5), p: Some(-1.857306275272752e-5), i: Some(0.0), d: Some(-2.0687110468112184e-5), output: -3.9260173220839704e-5 }, PIDState { time: 10161.44, dt: 0.020000000000436557, error: Some(-2.165481614907483e-5), p: Some(-3.2482224223612244e-5), i: Some(0.0), d: Some(-2.5757423117188016e-5), output: -5.823964734080026e-5 }, PIDState { time: 10161.46, dt: 0.019999999998617568, error: Some(-3.169688014302563e-5), p: Some(-4.7545320214538445e-5), i: Some(0.0), d: Some(-3.0231846983673012e-5), output: -7.777716719821145e-5 }, PIDState { time: 10161.48, dt: 0.020000000000436557, error: Some(-4.229378854708754e-5), p: Some(-6.344068282063131e-5), i: Some(0.0), d: Some(-3.402831339442117e-5), output: -9.746899621505248e-5 }, PIDState { time: 10161.5, dt: 0.020000000000436557, error: Some(-5.322238205596186e-5), p: Some(-7.983357308394279e-5), i: Some(0.0), d: Some(-3.7079754608160045e-5), output: -0.00011691332769210283 }, PIDState { time: 10161.52, dt: 0.020000000000436557, error: Some(-6.478844430310438e-5), p: Some(-9.718266645465656e-5), i: Some(0.0), d: Some(-3.9335139778650685e-5), output: -0.00013651780623330726 }, PIDState { time: 10161.54, dt: 0.020000000000436557, error: Some(-7.570320370843542e-5), p: Some(-0.00011355480556265313), i: Some(0.0), d: Some(-4.076044247655403e-5), output: -0.00015431524803920715 }, PIDState { time: 10161.56, dt: 0.019999999998617568, error: Some(-8.627944043253233e-5), p: Some(-0.0001294191606487985), i: Some(0.0), d: Some(-4.1339199913488146e-5), output: -0.00017075836056228665 }, PIDState { time: 10161.58, dt: 0.020000000000436557, error: Some(-9.630763367560191e-5), p: Some(-0.00014446145051340287), i: Some(0.0), d: Some(-4.107226805684317e-5), output: -0.00018553371857024604 }, PIDState { time: 10161.6, dt: 0.020000000000436557, error: Some(-0.00010559266096504816), p: Some(-0.00015838899144757224), i: Some(0.0), d: Some(-3.997737397508122e-5), output: -0.00019836636542265346 }, PIDState { time: 10161.62, dt: 0.020000000000436557, error: Some(-0.00011407872515649398), p: Some(-0.00017111808773474096), i: Some(0.0), d: Some(-3.808866847574138e-5), output: -0.00020920675621048234 }, PIDState { time: 10161.64, dt: 0.019999999998617568, error: Some(-0.00012136681252201964), p: Some(-0.00018205021878302946), i: Some(0.0), d: Some(-3.545591647496775e-5), output: -0.0002175061352579972 }, PIDState { time: 10161.66, dt: 0.020000000000436557, error: Some(-0.00012744638650438733), p: Some(-0.000191169579756581), i: Some(0.0), d: Some(-3.2143252433825606e-5), output: -0.0002233128321904066 }, PIDState { time: 10161.68, dt: 0.020000000000436557, error: Some(-0.00013221256460919928), p: Some(-0.00019831884691379892), i: Some(0.0), d: Some(-2.8227810969892367e-5), output: -0.00022654665788369129 }, PIDState { time: 10161.7, dt: 0.020000000000436557, error: Some(-0.00013558799883035821), p: Some(-0.00020338199824553732), i: Some(0.0), d: Some(-2.3798043596124217e-5), output: -0.00022718004184166154 }, PIDState { time: 10161.72, dt: 0.019999999998617568, error: Some(-9.465806113764796e-5), p: Some(-0.00014198709170647195), i: Some(0.0), d: Some(-1.895135133893658e-5), output: -0.00016093844304540853 }, PIDState { time: 10161.74, dt: 0.020000000000436557, error: Some(-9.51371704427384e-5), p: Some(-0.0001427057556641076), i: Some(0.0), d: Some(-1.3791821987613332e-5), output: -0.00015649757765172093 }, PIDState { time: 10161.76, dt: 0.020000000000436557, error: Some(-9.417055489842341e-5), p: Some(-0.0001412558323476351), i: Some(0.0), d: Some(-8.428327695493758e-6), output: -0.00014968416004312887 }, PIDState { time: 10161.78, dt: 0.020000000000436557, error: Some(-9.179893845948084e-5), p: Some(-0.00013769840768922126), i: Some(0.0), d: Some(-2.9723797442472797e-6), output: -0.00014067078743346855 }, PIDState { time: 10161.8, dt: 0.019999999998617568, error: Some(-8.809077958159273e-5), p: Some(-0.0001321361693723891), i: Some(0.0), d: Some(2.4642085305188694e-6), output: -0.00012967196084187022 }, PIDState { time: 10161.82, dt: 0.020000000000436557, error: Some(-8.056990875186798e-5), p: Some(-0.00012085486312780197), i: Some(0.0), d: Some(7.771573727721702e-6), output: -0.00011308328940008026 }, PIDState { time: 10161.84, dt: 0.020000000000436557, error: Some(-7.449710366926043e-5), p: Some(-0.00011174565550389065), i: Some(0.0), d: Some(1.2843892301556595e-5), output: -9.890176320233406e-5 }, PIDState { time: 10161.86, dt: 0.020000000000436557, error: Some(-6.744085661654353e-5), p: Some(-0.0001011612849248153), i: Some(0.0), d: Some(1.7581549072282524e-5), output: -8.357973585253278e-5 }, PIDState { time: 10161.88, dt: 0.019999999998617568, error: Some(-5.9558609229917736e-5), p: Some(-8.93379138448766e-5), i: Some(0.0), d: Some(2.1893278684002424e-5), output: -6.744463516087417e-5 }, PIDState { time: 10161.9, dt: 0.020000000000436557, error: Some(-5.1022357964849996e-5), p: Some(-7.6533536947275e-5), i: Some(0.0), d: Some(2.5697878705844325e-5), output: -5.0835658241430665e-5 }, PIDState { time: 10161.92, dt: 0.020000000000436557, error: Some(5.027847785404882e-5), p: Some(7.541771678107323e-5), i: Some(0.0), d: Some(2.892562723975462e-5), output: 0.00010434334402082784 }, PIDState { time: 10161.94, dt: 0.020000000000436557, error: Some(5.9568563988532386e-5), p: Some(8.935284598279858e-5), i: Some(0.0), d: Some(3.151969985163493e-5), output: 0.00012087254583443351 }, PIDState { time: 10161.96, dt: 0.019999999998617568, error: Some(6.894860931763724e-5), p: Some(0.00010342291397645587), i: Some(0.0), d: Some(3.343714549971478e-5), output: 0.00013686005947617064 }, PIDState { time: 10161.98, dt: 0.020000000000436557, error: Some(7.822713947620852e-5), p: Some(0.00011734070921431278), i: Some(0.0), d: Some(3.464919096027386e-5), output: 0.00015198990017458664 }, PIDState { time: 10162.0, dt: 0.020000000000436557, error: Some(8.721773181281922e-5), p: Some(0.00013082659771922883), i: Some(0.0), d: Some(3.514157253009407e-5), output: 0.0001659681702493229 }, PIDState { time: 10162.02, dt: 0.020000000000436557, error: Some(9.562010652162944e-5), p: Some(0.00014343015978244417), i: Some(0.0), d: Some(3.491489148436707e-5), output: 0.00017834505126681125 }, PIDState { time: 10162.04, dt: 0.020000000000436557, error: Some(0.00010351326184734888), p: Some(0.00015526989277102332), i: Some(0.0), d: Some(3.398432458489995e-5), output: 0.00018925421735592327 }, PIDState { time: 10162.06, dt: 0.019999999998617568, error: Some(0.00011062415908576206), p: Some(0.0001659362386286431), i: Some(0.0), d: Some(3.2378970171120666e-5), output: 0.00019831520879976376 }, PIDState { time: 10162.08, dt: 0.020000000000436557, error: Some(0.00011682086898844035), p: Some(0.00017523130348266053), i: Some(0.0), d: Some(3.0141388444286284e-5), output: 0.0002053726919269468 }, PIDState { time: 10162.1, dt: 0.020000000000436557, error: Some(0.00012199063915903363), p: Some(0.00018298595873855045), i: Some(0.0), d: Some(2.7326418597311564e-5), output: 0.000210312377335862 }, PIDState { time: 10162.12, dt: 0.020000000000436557, error: Some(0.0001260406433959138), p: Some(0.00018906096509387071), i: Some(0.0), d: Some(2.3999465852897387e-5), output: 0.0002130604309467681 }, PIDState { time: 10162.14, dt: 0.019999999998617568, error: Some(0.00012891204151158075), p: Some(0.00019336806226737113), i: Some(0.0), d: Some(2.0235305661659353e-5), output: 0.00021360336792903049 }, PIDState { time: 10162.16, dt: 0.020000000000436557, error: Some(0.00013056065994139499), p: Some(0.00019584098991209248), i: Some(0.0), d: Some(1.6116604776808737e-5), output: 0.0002119575946889012 }, PIDState { time: 10162.18, dt: 0.020000000000436557, error: Some(0.00013097082810571703), p: Some(0.00019645624215857554), i: Some(0.0), d: Some(1.1731954641328807e-5), output: 0.00020818819679990436 }, PIDState { time: 10162.2, dt: 0.020000000000436557, error: Some(0.0001301532985032855), p: Some(0.00019522994775492825), i: Some(0.0), d: Some(7.174175214737477e-6), output: 0.00020240412296966572 }, PIDState { time: 10162.22, dt: 0.019999999998617568, error: Some(0.0001281318813078497), p: Some(0.00019219782196177454), i: Some(0.0), d: Some(2.5394778721782867e-6), output: 0.00019473729983395283 }, PIDState { time: 10162.24, dt: 0.020000000000436557, error: Some(0.00012499681550257047), p: Some(0.0001874952232538557), i: Some(0.0), d: Some(-2.07407465759985e-6), output: 0.00018542114859625586 }, PIDState { time: 10162.26, dt: 0.020000000000436557, error: Some(0.00012081722499573955), p: Some(0.00018122583749360932), i: Some(0.0), d: Some(-6.569910464597271e-6), output: 0.00017465592702901205 }, PIDState { time: 10162.28, dt: 0.020000000000436557, error: Some(0.00011569577862802216), p: Some(0.00017354366794203324), i: Some(0.0), d: Some(-1.0856158736508395e-5), output: 0.00016268750920552484 }, PIDState { time: 10162.3, dt: 0.019999999998617568, error: Some(0.0001097676127330971), p: Some(0.00016465141909964565), i: Some(0.0), d: Some(-1.4844153023046402e-5), output: 0.00014980726607659924 }, PIDState { time: 10162.32, dt: 0.020000000000436557, error: Some(0.0001031443952425326), p: Some(0.0001547165928637989), i: Some(0.0), d: Some(-1.844779323925429e-5), output: 0.00013626879962454463 }, PIDState { time: 10162.34, dt: 0.020000000000436557, error: Some(9.603542089267614e-5), p: Some(0.0001440531313390142), i: Some(0.0), d: Some(-2.159162319636909e-5), output: 0.00012246150814264513 }, PIDState { time: 10162.36, dt: 0.020000000000436557, error: Some(8.857361815209353e-5), p: Some(0.0001328604272281403), i: Some(0.0), d: Some(-2.421557959397381e-5), output: 0.00010864484763416648 }, PIDState { time: 10162.38, dt: 0.019999999998617568, error: Some(8.092256046551838e-5), p: Some(0.00012138384069827757), i: Some(0.0), d: Some(-2.627357089528927e-5), output: 9.51102698029883e-5 }, PIDState { time: 10162.4, dt: 0.020000000000436557, error: Some(7.327605857281039e-5), p: Some(0.00010991408785921558), i: Some(0.0), d: Some(-2.7726486347109143e-5), output: 8.218760151210643e-5 }, PIDState { time: 10162.42, dt: 0.020000000000436557, error: Some(6.576106444129703e-5), p: Some(9.864159666194555e-5), i: Some(0.0), d: Some(-2.853895009453394e-5), output: 7.010264656741162e-5 }, PIDState { time: 10162.44, dt: 0.020000000000436557, error: Some(5.862617167172457e-5), p: Some(8.793925750758685e-5), i: Some(0.0), d: Some(-2.8693030058636628e-5), output: 5.9246227448950226e-5 }, PIDState { time: 10162.46, dt: 0.019999999998617568, error: Some(5.198670016698381e-5), p: Some(7.798005025047572e-5), i: Some(0.0), d: Some(-2.8193819971977313e-5), output: 4.9786230278498405e-5 }, PIDState { time: 10162.48, dt: 0.020000000000436557, error: Some(4.598313179449143e-5), p: Some(6.897469769173714e-5), i: Some(0.0), d: Some(-2.7062932476389485e-5), output: 4.1911765215347656e-5 }, PIDState { time: 10162.5, dt: 0.020000000000436557, error: Some(4.077334284469103e-5), p: Some(6.116001426703654e-5), i: Some(0.0), d: Some(-2.532859949875228e-5), output: 3.583141476828427e-5 }, PIDState { time: 10162.52, dt: 0.020000000000436557, error: Some(3.642343044961416e-5), p: Some(5.463514567442124e-5), i: Some(0.0), d: Some(-2.30210255699768e-5), output: 3.161412010444444e-5 }, PIDState { time: 10162.54, dt: 0.020000000000436557, error: Some(3.311985248229121e-5), p: Some(4.967977872343682e-5), i: Some(0.0), d: Some(-2.0186810337724977e-5), output: 2.949296838571184e-5 }, PIDState { time: 10162.56, dt: 0.019999999998617568, error: Some(3.0889263521682864e-5), p: Some(4.6333895282524296e-5), i: Some(0.0), d: Some(-1.689378396477859e-5), output: 2.9440111317745704e-5 }, PIDState { time: 10162.58, dt: 0.020000000000436557, error: Some(2.9775855290237185e-5), p: Some(4.466378293535578e-5), i: Some(0.0), d: Some(-1.3221914337476959e-5), output: 3.1441868597878816e-5 }, PIDState { time: 10162.6, dt: 0.020000000000436557, error: Some(2.9823927775424197e-5), p: Some(4.4735891663136296e-5), i: Some(0.0), d: Some(-9.253982129878942e-6), output: 3.548190953325735e-5 }, PIDState { time: 10162.62, dt: 0.020000000000436557, error: Some(3.0992788057085385e-5), p: Some(4.648918208562808e-5), i: Some(0.0), d: Some(-5.070570248608079e-6), output: 4.141861183702e-5 }, PIDState { time: 10162.64, dt: 0.019999999998617568, error: Some(3.333412688352744e-5), p: Some(5.0001190325291156e-5), i: Some(0.0), d: Some(-7.593899940341548e-7), output: 4.9241800331257e-5 }, PIDState { time: 10162.66, dt: 0.020000000000436557, error: Some(3.6757949701052284e-5), p: Some(5.5136924551578426e-5), i: Some(0.0), d: Some(3.581617503476124e-6), output: 5.871854205505455e-5 }, PIDState { time: 10162.68, dt: 0.020000000000436557, error: Some(4.118655500967572e-5), p: Some(6.177983251451358e-5), i: Some(0.0), d: Some(7.851864805736235e-6), output: 6.963169732024981e-5 }, PIDState { time: 10162.7, dt: 0.020000000000436557, error: Some(4.6528921174862625e-5), p: Some(6.979338176229394e-5), i: Some(0.0), d: Some(1.1953998128003364e-5), output: 8.17473798902973e-5 }, PIDState { time: 10162.72, dt: 0.019999999998617568, error: Some(5.2646379519558084e-5), p: Some(7.896956927933713e-5), i: Some(0.0), d: Some(1.5798380342857724e-5), output: 9.476794962219485e-5 }, PIDState { time: 10162.74, dt: 0.020000000000436557, error: Some(5.945188747870367e-5), p: Some(8.91778312180555e-5), i: Some(0.0), d: Some(1.9302358645516503e-5), output: 0.00010848018986357201 }, PIDState { time: 10162.76, dt: 0.020000000000436557, error: Some(6.677173075800291e-5), p: Some(0.00010015759613700437), i: Some(0.0), d: Some(2.2388663238952785e-5), output: 0.00012254625937595714 }, PIDState { time: 10162.78, dt: 0.020000000000436557, error: Some(7.444539622765423e-5), p: Some(0.00011166809434148134), i: Some(0.0), d: Some(2.498758859820143e-5), output: 0.00013665568293968276 }, PIDState { time: 10162.8, dt: 0.019999999998617568, error: Some(8.22947960186643e-5), p: Some(0.00012344219402799644), i: Some(0.0), d: Some(2.7037640078650427e-5), output: 0.00015047983410664686 }, PIDState { time: 10162.82, dt: 0.020000000000436557, error: Some(9.013266128188313e-5), p: Some(0.0001351989919228247), i: Some(0.0), d: Some(2.8488441016243675e-5), output: 0.00016368743293906836 }, PIDState { time: 10162.84, dt: 0.020000000000436557, error: Some(9.78301358374456e-5), p: Some(0.0001467452037561684), i: Some(0.0), d: Some(2.9308500523493682e-5), output: 0.00017605370427966209 }, PIDState { time: 10162.86, dt: 0.020000000000436557, error: Some(0.00010519499255316755), p: Some(0.00015779248882975133), i: Some(0.0), d: Some(2.9483856149343876e-5), output: 0.0001872763449790952 }, PIDState { time: 10162.88, dt: 0.019999999998617568, error: Some(0.0001120700816442527), p: Some(0.00016810512246637904), i: Some(0.0), d: Some(2.9013101089002486e-5), output: 0.00019711822355538154 }, PIDState { time: 10162.9, dt: 0.020000000000436557, error: Some(0.00011828667189606179), p: Some(0.00017743000784409269), i: Some(0.0), d: Some(2.7904159399444357e-5), output: 0.00020533416724353705 }, PIDState { time: 10162.92, dt: 0.020000000000436557, error: Some(0.0001236834033285089), p: Some(0.00018552510499276337), i: Some(0.0), d: Some(2.6175333762113063e-5), output: 0.00021170043875487642 }, PIDState { time: 10162.94, dt: 0.020000000000436557, error: Some(0.00012822030417782015), p: Some(0.00019233045626673023), i: Some(0.0), d: Some(2.3867010014347804e-5), output: 0.00021619746628107804 }, PIDState { time: 10162.96, dt: 0.019999999998617568, error: Some(0.00013176086632529782), p: Some(0.00019764129948794673), i: Some(0.0), d: Some(2.103911344630932e-5), output: 0.00021868041293425606 }, PIDState { time: 10162.98, dt: 0.020000000000436557, error: Some(0.0001342374041192057), p: Some(0.00020135610617880856), i: Some(0.0), d: Some(1.7760278844421138e-5), output: 0.0002191163850232297 }, PIDState { time: 10163.0, dt: 0.020000000000436557, error: Some(0.00013558123334153627), p: Some(0.0002033718500123044), i: Some(0.0), d: Some(1.410313164142191e-5), output: 0.00021747498165372632 }, PIDState { time: 10163.02, dt: 0.020000000000436557, error: Some(0.0001357299502140058), p: Some(0.0002035949253210087), i: Some(0.0), d: Some(1.0144293290594911e-5), output: 0.0002137392186116036 }, PIDState { time: 10163.04, dt: 0.020000000000436557, error: Some(0.00013479066554462904), p: Some(0.00020218599831694356), i: Some(0.0), d: Some(5.974945193027873e-6), output: 0.00020816094350997144 }, PIDState { time: 10163.06, dt: 0.019999999998617568, error: Some(0.00013274077124711403), p: Some(0.00019911115687067105), i: Some(0.0), d: Some(1.6977711835830262e-6), output: 0.00020080892805425407 }, PIDState { time: 10163.08, dt: 0.020000000000436557, error: Some(0.00012963765342020872), p: Some(0.00019445648013031308), i: Some(0.0), d: Some(-2.585574051697157e-6), output: 0.00019187090607861594 }, PIDState { time: 10163.1, dt: 0.020000000000436557, error: Some(0.0001255480804355502), p: Some(0.00018832212065332532), i: Some(0.0), d: Some(-6.7790387849905e-6), output: 0.00018154308186833483 }, PIDState { time: 10163.12, dt: 0.020000000000436557, error: Some(0.00012044657737747544), p: Some(0.00018066986606621316), i: Some(0.0), d: Some(-1.0792660652132011e-5), output: 0.00016987720541408114 }, PIDState { time: 10163.14, dt: 0.019999999998617568, error: Some(0.00011471193141444902), p: Some(0.00017206789712167353), i: Some(0.0), d: Some(-1.4538010060245917e-5), output: 0.00015752988706142762 }, PIDState { time: 10163.16, dt: 0.020000000000436557, error: Some(0.0001083457541926347), p: Some(0.00016251863128895205), i: Some(0.0), d: Some(-1.793079605551982e-5), output: 0.00014458783523343222 }, PIDState { time: 10163.18, dt: 0.020000000000436557, error: Some(0.00010149770830186755), p: Some(0.00015224656245280133), i: Some(0.0), d: Some(-2.089686168152839e-5), output: 0.00013134970077127294 }, PIDState { time: 10163.2, dt: 0.020000000000436557, error: Some(9.432777770163048e-5), p: Some(0.00014149166655244572), i: Some(0.0), d: Some(-2.3371427259985892e-5), output: 0.00011812023929245983 }, PIDState { time: 10163.22, dt: 0.019999999998617568, error: Some(8.687461305974253e-5), p: Some(0.0001303119195896138), i: Some(0.0), d: Some(-2.5297703160764903e-5), output: 0.00010501421642884889 }, PIDState { time: 10163.24, dt: 0.020000000000436557, error: Some(7.957931724764111e-5), p: Some(0.00011936897587146167), i: Some(0.0), d: Some(-2.6628583424660657e-5), output: 9.2740392446801e-5 }, PIDState { time: 10163.26, dt: 0.020000000000436557, error: Some(7.248211148641603e-5), p: Some(0.00010872316722962405), i: Some(0.0), d: Some(-2.7330345641423358e-5), output: 8.13928215882007e-5 }, PIDState { time: 10163.28, dt: 0.020000000000436557, error: Some(6.574612813715908e-5), p: Some(9.861919220573861e-5), i: Some(0.0), d: Some(-2.7385624262121806e-5), output: 7.12335679436168e-5 }, PIDState { time: 10163.3, dt: 0.019999999998617568, error: Some(5.95438976694479e-5), p: Some(8.931584650417185e-5), i: Some(0.0), d: Some(-2.67912454147239e-5), output: 6.252460108944795e-5 }, PIDState { time: 10163.32, dt: 0.020000000000436557, error: Some(5.388452648184827e-5), p: Some(8.082678972277241e-5), i: Some(0.0), d: Some(-2.555613612621222e-5), output: 5.5270653596560186e-5 }]
09:26:59.527 ERROR [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:149] Logger control/pid/z_attitude failed to flush: SqliteFailure(Error { code: ConstraintViolation, extended_code: 1555 }, Some("UNIQUE constraint failed: control/pid/z_attitude.time"))
09:26:59.530 ERROR [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:149] Logger control/cascaded_control failed to flush: SqliteFailure(Error { code: ConstraintViolation, extended_code: 1555 }, Some("UNIQUE constraint failed: control/cascaded_control.time"))
09:26:59.530 ERROR [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:149] Logger control/pid/z_angular_velocity failed to flush: SqliteFailure(Error { code: ConstraintViolation, extended_code: 1555 }, Some("UNIQUE constraint failed: control/pid/z_angular_velocity.time"))
09:26:59.530 ERROR [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:149] Logger control/pid/x_attitude failed to flush: SqliteFailure(Error { code: ConstraintViolation, extended_code: 1555 }, Some("UNIQUE constraint failed: control/pid/x_attitude.time"))
09:26:59.530 ERROR [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:149] Logger control/pid/y_attitude failed to flush: SqliteFailure(Error { code: ConstraintViolation, extended_code: 1555 }, Some("UNIQUE constraint failed: control/pid/y_attitude.time"))
09:26:59.530 ERROR [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:149] Logger control/pid/x_velocity failed to flush: SqliteFailure(Error { code: ConstraintViolation, extended_code: 1555 }, Some("UNIQUE constraint failed: control/pid/x_velocity.time"))
09:26:59.530 ERROR [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:149] Logger control/pid/z_velocity failed to flush: SqliteFailure(Error { code: ConstraintViolation, extended_code: 1555 }, Some("UNIQUE constraint failed: control/pid/z_velocity.time"))
09:26:59.531 ERROR [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:149] Logger control/pid/y_velocity failed to flush: SqliteFailure(Error { code: ConstraintViolation, extended_code: 1555 }, Some("UNIQUE constraint failed: control/pid/y_velocity.time"))
09:26:59.531 ERROR [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:149] Logger thruster_manager failed to flush: SqliteFailure(Error { code: ConstraintViolation, extended_code: 1555 }, Some("UNIQUE constraint failed: thruster_manager.time"))
09:26:59.531 ERROR [/home/joris/.cargo/registry/src/index.crates.io-6f17d22bba15001f/log-panics-2.1.0/src/lib.rs:130] thread 'logger_control/pid/y_position' panicked at 'Logger control/pid/y_position failed to flush': /home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:151
09:35:44.442 ERROR [/home/joris/Repos/LobsterAUV/robot_code/robot_core/path_planning/python/path_planning/path_planner_manager.py:232] Path Planner has timed out (1133.18 > 1133.0934253121463). Aborting it.
09:35:48.828 ERROR [/home/joris/Repos/LobsterAUV/robot_code/robot_core/path_planning/python/path_planning/path_planner_manager.py:232] Path Planner has timed out (1443.54 > 1443.5141696928433). Aborting it.
09:35:55.072 ERROR [/home/joris/Repos/LobsterAUV/robot_code/robot_core/path_planning/python/path_planning/path_planner_manager.py:232] Path Planner has timed out (1899.48 > 1899.4222507705192). Aborting it.
09:36:02.382 ERROR [/home/joris/Repos/LobsterAUV/robot_code/robot_core/path_planning/python/path_planning/path_planner_manager.py:232] Path Planner has timed out (2415.1 > 2415.0713794742933). Aborting it.
09:36:08.225 ERROR [/home/joris/Repos/LobsterAUV/robot_code/robot_core/path_planning/python/path_planning/path_planner_manager.py:232] Path Planner has timed out (2834.1 > 2834.079475805969). Aborting it.
09:36:15.202 ERROR [/home/joris/Repos/LobsterAUV/robot_code/robot_core/path_planning/python/path_planning/path_planner_manager.py:232] Path Planner has timed out (3340.98 > 3340.88823075065). Aborting it.
09:36:20.466 ERROR [/home/joris/Repos/LobsterAUV/robot_code/robot_core/path_planning/python/path_planning/path_planner_manager.py:232] Path Planner has timed out (3714.34 > 3714.292477860159). Aborting it.
09:36:30.010 ERROR [/home/joris/Repos/LobsterAUV/robot_code/robot_core/path_planning/python/path_planning/path_planner_manager.py:232] Path Planner has timed out (4378.52 > 4378.49448986039). Aborting it.
09:36:33.868 ERROR [/home/joris/.cargo/registry/src/index.crates.io-6f17d22bba15001f/log-panics-2.1.0/src/lib.rs:130] thread 'path_planner' panicked at 'Failed to send attitude goal request': utilities/python_bindings/src/rust_control_handle.rs:83
09:37:44.574 ERROR [/home/joris/Repos/LobsterAUV/robot_code/robot_core/path_planning/python/path_planning/path_planner_manager.py:232] Path Planner has timed out (5035.84 > 5035.802057710455). Aborting it.
09:37:54.174 ERROR [/home/joris/.cargo/registry/src/index.crates.io-6f17d22bba15001f/log-panics-2.1.0/src/lib.rs:130] thread 'task_scheduler' panicked at 'Simulator has been dropped': utilities/simulator/src/time.rs:4
09:39:10.992 ERROR [/home/joris/Repos/LobsterAUV/robot_code/robot_core/path_planning/python/path_planning/path_planner_manager.py:232] Path Planner has timed out (3487.12 > 3487.024831499606). Aborting it.
09:39:33.105 ERROR [/home/joris/Repos/LobsterAUV/robot_code/robot_core/path_planning/python/path_planning/path_planner_manager.py:232] Path Planner has timed out (4858.08 > 4857.980670099018). Aborting it.
09:39:41.789 ERROR [/home/joris/Repos/LobsterAUV/robot_code/robot_core/path_planning/python/path_planning/path_planner_manager.py:232] Path Planner has timed out (5321.84 > 5321.82729478092). Aborting it.
09:42:25.557 ERROR [/home/joris/Repos/LobsterAUV/robot_code/robot_core/path_planning/python/path_planning/path_planner_manager.py:232] Path Planner has timed out (15039.84 > 15039.741355510245). Aborting it.
09:43:17.564 ERROR [/home/joris/Repos/LobsterAUV/robot_code/robot_core/path_planning/python/path_planning/path_planner_manager.py:232] Path Planner has timed out (18196.36 > 18196.26144762008). Aborting it.
09:43:29.173 ERROR [/home/joris/.cargo/registry/src/index.crates.io-6f17d22bba15001f/log-panics-2.1.0/src/lib.rs:130] thread 'path_planner' panicked at 'Failed to send feed forward velocity request': utilities/python_bindings/src/rust_control_handle.rs:89
10:02:00.847 ERROR [robot_core/path_planning/src/lib.rs:259] Cannot reach control, stopping path planner...
10:05:26.368 ERROR [robot_core/path_planning/src/lib.rs:259] Cannot reach control, stopping path planner...
10:05:27.366 ERROR [robot_core/state_estimation/src/simulated_state_estimator.rs:57] State estimator error on recv: Timeout, stopping...
20:57:57.972 ERROR [robot_core/path_planning/src/lib.rs:259] Cannot reach control, stopping path planner...
20:57:58.948 ERROR [robot_core/state_estimation/src/simulated_state_estimator.rs:57] State estimator error on recv: Timeout, stopping...
20:58:46.121 ERROR [robot_core/path_planning/src/lib.rs:259] Cannot reach control, stopping path planner...
20:58:47.106 ERROR [robot_core/state_estimation/src/simulated_state_estimator.rs:57] State estimator error on recv: Timeout, stopping...
20:59:05.348 ERROR [/home/joris/.cargo/registry/src/index.crates.io-6f17d22bba15001f/log-panics-2.1.0/src/lib.rs:130] thread 'main' panicked at 'No such device (os error 19)': peripherals/can/src/can_module.rs:42
20:59:38.081 ERROR [/home/joris/.cargo/registry/src/index.crates.io-6f17d22bba15001f/log-panics-2.1.0/src/lib.rs:130] thread 'main' panicked at 'No such device (os error 19)': peripherals/can/src/can_module.rs:42
21:01:48.347 ERROR [robot_core/path_planning/src/lib.rs:259] Cannot reach control, stopping path planner...
21:01:49.323 ERROR [robot_core/state_estimation/src/simulated_state_estimator.rs:57] State estimator error on recv: Timeout, stopping...
21:04:42.865 ERROR [/home/joris/.cargo/registry/src/index.crates.io-6f17d22bba15001f/log-panics-2.1.0/src/lib.rs:130] thread 'simulator' panicked at 'called `Result::unwrap()` on an `Err` value: Error { ctx: "Not connected to physics server" }': utilities/simulator/src/pybullet_api.rs:132
21:19:03.439 ERROR [robot_core/path_planning/src/lib.rs:259] Cannot reach control, stopping path planner...
21:19:04.392 ERROR [robot_core/state_estimation/src/simulated_state_estimator.rs:57] State estimator error on recv: Timeout, stopping...
21:22:58.946 ERROR [/home/joris/.cargo/registry/src/index.crates.io-6f17d22bba15001f/log-panics-2.1.0/src/lib.rs:130] thread 'path_planner' panicked at 'Failed to send feed forward velocity request': utilities/python_bindings/src/rust_control_handle.rs:89
21:24:41.880 ERROR [/home/joris/.cargo/registry/src/index.crates.io-6f17d22bba15001f/log-panics-2.1.0/src/lib.rs:130] thread 'path_planner' panicked at 'Failed to send attitude goal request': utilities/python_bindings/src/rust_control_handle.rs:83
21:29:06.632 ERROR [/home/joris/.cargo/registry/src/index.crates.io-6f17d22bba15001f/log-panics-2.1.0/src/lib.rs:130] thread 'path_planner' panicked at 'Failed to send position goal request': utilities/python_bindings/src/rust_control_handle.rs:59
21:34:52.094 ERROR [/home/joris/.cargo/registry/src/index.crates.io-6f17d22bba15001f/log-panics-2.1.0/src/lib.rs:130] thread 'path_planner' panicked at 'Failed to send position goal request': utilities/python_bindings/src/rust_control_handle.rs:59