diff --git a/include/outVector.h b/include/outVector.h
index 9b21427..f76d3ee 100644
--- a/include/outVector.h
+++ b/include/outVector.h
@@ -33,6 +33,8 @@ struct outVector {
 
   std::vector<double> PIDx = std::vector<double>(length, 0.0);
   std::vector<double> PIDy = std::vector<double>(length, 0.0);
+
+  std::vector<double> thrust = std::vector<double>(length, 0.0);
 };
 
 #endif
\ No newline at end of file
diff --git a/include/sim.h b/include/sim.h
index a093f77..b0388b6 100644
--- a/include/sim.h
+++ b/include/sim.h
@@ -10,8 +10,8 @@ void TVC(struct Vehicle &, struct Vehicle &);
 void vehicleDynamics(struct Vehicle &, struct Vehicle &, int t);
 void state2vec(struct Vehicle &, struct Vehicle &, struct outVector &, int t);
 void write2CSV(struct outVector &, struct Vehicle &);
-double derivative(double x2, double x1, double dt);
-double integral(double x2, double x1, double dt);
+double derivative(double current, double previous, double step);
+double integral(double currentChange, double prevValue, double dt);
 double limit(double value, double upr, double lwr);
 
 // Any parameters that are constants should be declared here instead of
@@ -334,6 +334,8 @@ void state2vec(Vehicle &State, Vehicle &PrevState, outVector &stateVector,
   stateVector.PIDx[t] = State.PIDx;
   stateVector.PIDy[t] = State.PIDy;
 
+  stateVector.thrust[t] = State.thrust;
+
   // Set "prev" values for next timestep
   PrevState = State;
 }
@@ -354,40 +356,42 @@ void write2CSV(outVector &stateVector, Vehicle &State) {
   // debugging
   outfile << "t, x, y, z, vx, vy, vz, ax, ay, az, yaw, pitch, roll, yawdot, "
              "pitchdot, rolldot, Servo1, Servo2, thrustFiring, PIDx, PIDy, "
-             "thrust, deriv"
+             "thrust"
           << std::endl;
 
   // writing to output file
   for (int t = 0; t < State.simTime; t += State.stepSize) {
     outfile << t << ", ";
 
-    outfile << stateVector.x[t] << ", ";
-    outfile << stateVector.y[t] << ", ";
-    outfile << stateVector.z[t] << ", ";
+    outfile << stateVector.x[t] << ",";
+    outfile << stateVector.y[t] << ",";
+    outfile << stateVector.z[t] << ",";
 
-    outfile << stateVector.vx[t] << ", ";
-    outfile << stateVector.vy[t] << ", ";
-    outfile << stateVector.vz[t] << ", ";
+    outfile << stateVector.vx[t] << ",";
+    outfile << stateVector.vy[t] << ",";
+    outfile << stateVector.vz[t] << ",";
 
-    outfile << stateVector.ax[t] << ", ";
-    outfile << stateVector.ay[t] << ", ";
-    outfile << stateVector.az[t] << ", ";
+    outfile << stateVector.ax[t] << ",";
+    outfile << stateVector.ay[t] << ",";
+    outfile << stateVector.az[t] << ",";
 
-    outfile << stateVector.yaw[t] * 180 / M_PI << ", ";
-    outfile << stateVector.pitch[t] * 180 / M_PI << ", ";
-    outfile << stateVector.roll[t] * 180 / M_PI << ", ";
+    outfile << stateVector.yaw[t] * 180 / M_PI << ",";
+    outfile << stateVector.pitch[t] * 180 / M_PI << ",";
+    outfile << stateVector.roll[t] * 180 / M_PI << ",";
 
-    outfile << stateVector.yawdot[t] * 180 / M_PI << ", ";
-    outfile << stateVector.pitchdot[t] * 180 / M_PI << ", ";
-    outfile << stateVector.rolldot[t] * 180 / M_PI << ", ";
+    outfile << stateVector.yawdot[t] * 180 / M_PI << ",";
+    outfile << stateVector.pitchdot[t] * 180 / M_PI << ",";
+    outfile << stateVector.rolldot[t] * 180 / M_PI << ",";
 
-    outfile << stateVector.servo1[t] << ", ";
-    outfile << stateVector.servo2[t] << ", ";
+    outfile << stateVector.servo1[t] << ",";
+    outfile << stateVector.servo2[t] << ",";
 
-    outfile << stateVector.thrustFiring[t] << ", ";
+    outfile << stateVector.thrustFiring[t] << ",";
 
-    outfile << stateVector.PIDx[t] << ", ";
-    outfile << stateVector.PIDy[t] << std::endl;
+    outfile << stateVector.PIDx[t] << ",";
+    outfile << stateVector.PIDy[t] << ",";
+
+    outfile << stateVector.thrust[t] << std::endl;
   }
 
   outfile.close();