From 61a2ca3676c9a431823475934e99d4847a813a66 Mon Sep 17 00:00:00 2001
From: Anson Biggs <anson@ansonbiggs.com>
Date: Thu, 16 Sep 2021 01:17:58 +0000
Subject: [PATCH] Resolve "Relocate Initial Conditions"

---
 build/debug/main.exe                          |  Bin 104133 -> 2717851 bytes
 build/debug/outputs/Accel-Vel-Alt vs Time.png |  Bin 40027 -> 36085 bytes
 build/debug/outputs/Euler Angles vs Time.png  |  Bin 33861 -> 33796 bytes
 .../debug/outputs/Servo Position vs Time.png  |  Bin 31478 -> 31197 bytes
 build/debug/simOut.csv                        | 8602 ++++++++---------
 include/{sVars.h => Vehicle.h}                |   14 +-
 include/sim.h                                 |  390 +-
 src/main.cpp                                  |   47 +-
 8 files changed, 4526 insertions(+), 4527 deletions(-)
 rename include/{sVars.h => Vehicle.h} (63%)

diff --git a/build/debug/main.exe b/build/debug/main.exe
index 616bc894c35b9953e71ba206f30b61d4f358c252..a6f67aa8e4a75f438423977fb2ffec3873bf6242 100644
GIT binary patch
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diff --git a/build/debug/outputs/Accel-Vel-Alt vs Time.png b/build/debug/outputs/Accel-Vel-Alt vs Time.png
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diff --git a/build/debug/outputs/Euler Angles vs Time.png b/build/debug/outputs/Euler Angles vs Time.png
index 03d4e82d0f4fec8ce6e6ab35112e3c7f4763dbb2..006c3504119e576166e10b7827b9e95e8bd6fee4 100644
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diff --git a/build/debug/outputs/Servo Position vs Time.png b/build/debug/outputs/Servo Position vs Time.png
index 8dc9309f9c78615bd1b964c30b92b6eba6c9f2b9..cac0c18b7eed3c98ee14d8501dfb65edd4aa0f3c 100644
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diff --git a/build/debug/simOut.csv b/build/debug/simOut.csv
index 968427b..b29d057 100644
--- a/build/debug/simOut.csv
+++ b/build/debug/simOut.csv
@@ -1,4302 +1,4302 @@
 t, x, y, z, vx, vy, vz, ax, ay, az, yaw, pitch, roll, yawdot, pitchdot, rolldot, yawddot, pitchddot, rollddot, I11, I22, I33, I11dot, I22dot, I33dot, Servo1, Servo2, m, thrust, burnElapsed, Fz, LQRx, LQRy
-0, 0, 0, 25.0277, 0, 0, 0, 0, 0, -9.81, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.000781831, 0.000781831, 0.00156366, 0, 0, 0, 5.88545e-44, 0, 1.2, 1.86361e-40, 2000, -11.772, -0, -0
-1, 0, 0, 25.0277, 0, 0, -0.00981, 0, 0, -9.81, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.000781831, 0.000781831, 0.00156366, 0, 0, 0, 5.88545e-44, 0, 1.2, 1.86361e-40, 2000, -11.772, -0, -0
-2, 0, 0, 25.0277, 0, 0, -0.01962, 0, 0, -9.81, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.000781831, 0.000781831, 0.00156366, 0, 0, 0, 5.88545e-44, 0, 1.2, 1.86361e-40, 2000, -11.772, -0, -0
-3, 0, 0, 25.0276, 0, 0, -0.02943, 0, 0, -9.81, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.000781831, 0.000781831, 0.00156366, 0, 0, 0, 5.88545e-44, 0, 1.2, 1.86361e-40, 2000, -11.772, -0, -0
-4, 0, 0, 25.0276, 0, 0, -0.03924, 0, 0, -9.81, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.000781831, 0.000781831, 0.00156366, 0, 0, 0, 5.88545e-44, 0, 1.2, 1.86361e-40, 2000, -11.772, -0, -0
-5, 0, 0, 25.0276, 0, 0, -0.04905, 0, 0, -9.81, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.000781831, 0.000781831, 0.00156366, 0, 0, 0, 5.88545e-44, 0, 1.2, 1.86361e-40, 2000, -11.772, -0, -0
-6, 0, 0, 25.0275, 0, 0, -0.05886, 0, 0, -9.81, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.000781831, 0.000781831, 0.00156366, 0, 0, 0, 5.88545e-44, 0, 1.2, 1.86361e-40, 2000, -11.772, -0, -0
-7, 0, 0, 25.0274, 0, 0, -0.06867, 0, 0, -9.81, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.000781831, 0.000781831, 0.00156366, 0, 0, 0, 5.88545e-44, 0, 1.2, 1.86361e-40, 2000, -11.772, -0, -0
-8, 0, 0, 25.0273, 0, 0, -0.07848, 0, 0, -9.81, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.000781831, 0.000781831, 0.00156366, 0, 0, 0, 5.88545e-44, 0, 1.2, 1.86361e-40, 2000, -11.772, -0, -0
-9, 0, 0, 25.0273, 0, 0, -0.08829, 0, 0, -9.81, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.000781831, 0.000781831, 0.00156366, 0, 0, 0, 5.88545e-44, 0, 1.2, 1.86361e-40, 2000, -11.772, -0, -0
-10, 0, 0, 25.0272, 0, 0, -0.0981, 0, 0, -9.81, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.000781831, 0.000781831, 0.00156366, 0, 0, 0, 5.88545e-44, 0, 1.2, 1.86361e-40, 2000, -11.772, -0, -0
-11, 0, 0, 25.0271, 0, 0, -0.10791, 0, 0, -9.81, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.000781831, 0.000781831, 0.00156366, 0, 0, 0, 5.88545e-44, 0, 1.2, 1.86361e-40, 2000, -11.772, -0, -0
-12, 0, 0, 25.0269, 0, 0, -0.11772, 0, 0, -9.81, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.000781831, 0.000781831, 0.00156366, 0, 0, 0, 5.88545e-44, 0, 1.2, 1.86361e-40, 2000, -11.772, -0, -0
-13, 0, 0, 25.0268, 0, 0, -0.12753, 0, 0, -9.81, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.000781831, 0.000781831, 0.00156366, 0, 0, 0, 5.88545e-44, 0, 1.2, 1.86361e-40, 2000, -11.772, -0, -0
-14, 0, 0, 25.0267, 0, 0, -0.13734, 0, 0, -9.81, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.000781831, 0.000781831, 0.00156366, 0, 0, 0, 5.88545e-44, 0, 1.2, 1.86361e-40, 2000, -11.772, -0, -0
-15, 0, 0, 25.0265, 0, 0, -0.14715, 0, 0, -9.81, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.000781831, 0.000781831, 0.00156366, 0, 0, 0, 5.88545e-44, 0, 1.2, 1.86361e-40, 2000, -11.772, -0, -0
-16, 0, 0, 25.0264, 0, 0, -0.15696, 0, 0, -9.81, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.000781831, 0.000781831, 0.00156366, 0, 0, 0, 5.88545e-44, 0, 1.2, 1.86361e-40, 2000, -11.772, -0, -0
-17, 0, 0, 25.0262, 0, 0, -0.16677, 0, 0, -9.81, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.000781831, 0.000781831, 0.00156366, 0, 0, 0, 5.88545e-44, 0, 1.2, 1.86361e-40, 2000, -11.772, -0, -0
-18, 0, 0, 25.026, 0, 0, -0.17658, 0, 0, -9.81, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.000781831, 0.000781831, 0.00156366, 0, 0, 0, 5.88545e-44, 0, 1.2, 1.86361e-40, 2000, -11.772, -0, -0
-19, 0, 0, 25.0258, 0, 0, -0.18639, 0, 0, -9.81, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.000781831, 0.000781831, 0.00156366, 0, 0, 0, 5.88545e-44, 0, 1.2, 1.86361e-40, 2000, -11.772, -0, -0
-20, 0, 0, 25.0256, 0, 0, -0.1962, 0, 0, -9.81, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.000781831, 0.000781831, 0.00156366, 0, 0, 0, 5.88545e-44, 0, 1.2, 1.86361e-40, 2000, -11.772, -0, -0
-21, 0, 0, 25.0254, 0, 0, -0.20601, 0, 0, -9.81, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.000781831, 0.000781831, 0.00156366, 0, 0, 0, 5.88545e-44, 0, 1.2, 1.86361e-40, 2000, -11.772, -0, -0
-22, 0, 0, 25.0252, 0, 0, -0.21582, 0, 0, -9.81, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.000781831, 0.000781831, 0.00156366, 0, 0, 0, 5.88545e-44, 0, 1.2, 1.86361e-40, 2000, -11.772, -0, -0
-23, 0, 0, 25.025, 0, 0, -0.22563, 0, 0, -9.81, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.000781831, 0.000781831, 0.00156366, 0, 0, 0, 5.88545e-44, 0, 1.2, 1.86361e-40, 2000, -11.772, -0, -0
-24, 0, 0, 25.0248, 0, 0, -0.23544, 0, 0, -9.81, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.000781831, 0.000781831, 0.00156366, 0, 0, 0, 5.88545e-44, 0, 1.2, 1.86361e-40, 2000, -11.772, -0, -0
-25, 0, 0, 25.0245, 0, 0, -0.24525, 0, 0, -9.81, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.000781831, 0.000781831, 0.00156366, 0, 0, 0, 5.88545e-44, 0, 1.2, 1.86361e-40, 2000, -11.772, -0, -0
-26, 0, 0, 25.0243, 0, 0, -0.25506, 0, 0, -9.81, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.000781831, 0.000781831, 0.00156366, 0, 0, 0, 5.88545e-44, 0, 1.2, 1.86361e-40, 2000, -11.772, -0, -0
-27, 0, 0, 25.024, 0, 0, -0.26487, 0, 0, -9.81, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.000781831, 0.000781831, 0.00156366, 0, 0, 0, 5.88545e-44, 0, 1.2, 1.86361e-40, 2000, -11.772, -0, -0
-28, 0, 0, 25.0237, 0, 0, -0.27468, 0, 0, -9.81, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.000781831, 0.000781831, 0.00156366, 0, 0, 0, 5.88545e-44, 0, 1.2, 1.86361e-40, 2000, -11.772, -0, -0
-29, 0, 0, 25.0234, 0, 0, -0.28449, 0, 0, -9.81, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.000781831, 0.000781831, 0.00156366, 0, 0, 0, 5.88545e-44, 0, 1.2, 1.86361e-40, 2000, -11.772, -0, -0
-30, 0, 0, 25.0231, 0, 0, -0.2943, 0, 0, -9.81, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.000781831, 0.000781831, 0.00156366, 0, 0, 0, 5.88545e-44, 0, 1.2, 1.86361e-40, 2000, -11.772, -0, -0
-31, 0, 0, 25.0228, 0, 0, -0.30411, 0, 0, -9.81, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.000781831, 0.000781831, 0.00156366, 0, 0, 0, 5.88545e-44, 0, 1.2, 1.86361e-40, 2000, -11.772, -0, -0
-32, 0, 0, 25.0225, 0, 0, -0.31392, 0, 0, -9.81, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.000781831, 0.000781831, 0.00156366, 0, 0, 0, 5.88545e-44, 0, 1.2, 1.86361e-40, 2000, -11.772, -0, -0
-33, 0, 0, 25.0222, 0, 0, -0.32373, 0, 0, -9.81, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.000781831, 0.000781831, 0.00156366, 0, 0, 0, 5.88545e-44, 0, 1.2, 1.86361e-40, 2000, -11.772, -0, -0
-34, 0, 0, 25.0219, 0, 0, -0.33354, 0, 0, -9.81, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.000781831, 0.000781831, 0.00156366, 0, 0, 0, 5.88545e-44, 0, 1.2, 1.86361e-40, 2000, -11.772, -0, -0
-35, 0, 0, 25.0215, 0, 0, -0.34335, 0, 0, -9.81, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.000781831, 0.000781831, 0.00156366, 0, 0, 0, 5.88545e-44, 0, 1.2, 1.86361e-40, 2000, -11.772, -0, -0
-36, 0, 0, 25.0212, 0, 0, -0.35316, 0, 0, -9.81, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.000781831, 0.000781831, 0.00156366, 0, 0, 0, 5.88545e-44, 0, 1.2, 1.86361e-40, 2000, -11.772, -0, -0
-37, 0, 0, 25.0208, 0, 0, -0.36297, 0, 0, -9.81, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.000781831, 0.000781831, 0.00156366, 0, 0, 0, 5.88545e-44, 0, 1.2, 1.86361e-40, 2000, -11.772, -0, -0
-38, 0, 0, 25.0204, 0, 0, -0.37278, 0, 0, -9.81, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.000781831, 0.000781831, 0.00156366, 0, 0, 0, 5.88545e-44, 0, 1.2, 1.86361e-40, 2000, -11.772, -0, -0
-39, 0, 0, 25.02, 0, 0, -0.38259, 0, 0, -9.81, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.000781831, 0.000781831, 0.00156366, 0, 0, 0, 5.88545e-44, 0, 1.2, 1.86361e-40, 2000, -11.772, -0, -0
-40, 0, 0, 25.0197, 0, 0, -0.3924, 0, 0, -9.81, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.000781831, 0.000781831, 0.00156366, 0, 0, 0, 5.88545e-44, 0, 1.2, 1.86361e-40, 2000, -11.772, -0, -0
-41, 0, 0, 25.0193, 0, 0, -0.40221, 0, 0, -9.81, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.000781831, 0.000781831, 0.00156366, 0, 0, 0, 5.88545e-44, 0, 1.2, 1.86361e-40, 2000, -11.772, -0, -0
-42, 0, 0, 25.0188, 0, 0, -0.41202, 0, 0, -9.81, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.000781831, 0.000781831, 0.00156366, 0, 0, 0, 5.88545e-44, 0, 1.2, 1.86361e-40, 2000, -11.772, -0, -0
-43, 0, 0, 25.0184, 0, 0, -0.42183, 0, 0, -9.81, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.000781831, 0.000781831, 0.00156366, 0, 0, 0, 5.88545e-44, 0, 1.2, 1.86361e-40, 2000, -11.772, -0, -0
-44, 0, 0, 25.018, 0, 0, -0.43164, 0, 0, -9.81, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.000781831, 0.000781831, 0.00156366, 0, 0, 0, 5.88545e-44, 0, 1.2, 1.86361e-40, 2000, -11.772, -0, -0
-45, 0, 0, 25.0175, 0, 0, -0.44145, 0, 0, -9.81, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.000781831, 0.000781831, 0.00156366, 0, 0, 0, 5.88545e-44, 0, 1.2, 1.86361e-40, 2000, -11.772, -0, -0
-46, 0, 0, 25.0171, 0, 0, -0.45126, 0, 0, -9.81, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.000781831, 0.000781831, 0.00156366, 0, 0, 0, 5.88545e-44, 0, 1.2, 1.86361e-40, 2000, -11.772, -0, -0
-47, 0, 0, 25.0166, 0, 0, -0.46107, 0, 0, -9.81, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.000781831, 0.000781831, 0.00156366, 0, 0, 0, 5.88545e-44, 0, 1.2, 1.86361e-40, 2000, -11.772, -0, -0
-48, 0, 0, 25.0162, 0, 0, -0.47088, 0, 0, -9.81, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.000781831, 0.000781831, 0.00156366, 0, 0, 0, 5.88545e-44, 0, 1.2, 1.86361e-40, 2000, -11.772, -0, -0
-49, 0, 0, 25.0157, 0, 0, -0.48069, 0, 0, -9.81, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.000781831, 0.000781831, 0.00156366, 0, 0, 0, 5.88545e-44, 0, 1.2, 1.86361e-40, 2000, -11.772, -0, -0
-50, 0, 0, 25.0152, 0, 0, -0.4905, 0, 0, -9.81, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.000781831, 0.000781831, 0.00156366, 0, 0, 0, 5.88545e-44, 0, 1.2, 1.86361e-40, 2000, -11.772, -0, -0
-51, 0, 0, 25.0147, 0, 0, -0.50031, 0, 0, -9.81, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.000781831, 0.000781831, 0.00156366, 0, 0, 0, 5.88545e-44, 0, 1.2, 1.86361e-40, 2000, -11.772, -0, -0
-52, 0, 0, 25.0142, 0, 0, -0.51012, 0, 0, -9.81, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.000781831, 0.000781831, 0.00156366, 0, 0, 0, 5.88545e-44, 0, 1.2, 1.86361e-40, 2000, -11.772, -0, -0
-53, 0, 0, 25.0137, 0, 0, -0.51993, 0, 0, -9.81, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.000781831, 0.000781831, 0.00156366, 0, 0, 0, 5.88545e-44, 0, 1.2, 1.86361e-40, 2000, -11.772, -0, -0
-54, 0, 0, 25.0131, 0, 0, -0.52974, 0, 0, -9.81, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.000781831, 0.000781831, 0.00156366, 0, 0, 0, 5.88545e-44, 0, 1.2, 1.86361e-40, 2000, -11.772, -0, -0
-55, 0, 0, 25.0126, 0, 0, -0.53955, 0, 0, -9.81, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.000781831, 0.000781831, 0.00156366, 0, 0, 0, 5.88545e-44, 0, 1.2, 1.86361e-40, 2000, -11.772, -0, -0
-56, 0, 0, 25.012, 0, 0, -0.54936, 0, 0, -9.81, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.000781831, 0.000781831, 0.00156366, 0, 0, 0, 5.88545e-44, 0, 1.2, 1.86361e-40, 2000, -11.772, -0, -0
-57, 0, 0, 25.0115, 0, 0, -0.55917, 0, 0, -9.81, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.000781831, 0.000781831, 0.00156366, 0, 0, 0, 5.88545e-44, 0, 1.2, 1.86361e-40, 2000, -11.772, -0, -0
-58, 0, 0, 25.0109, 0, 0, -0.56898, 0, 0, -9.81, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.000781831, 0.000781831, 0.00156366, 0, 0, 0, 5.88545e-44, 0, 1.2, 1.86361e-40, 2000, -11.772, -0, -0
-59, 0, 0, 25.0103, 0, 0, -0.57879, 0, 0, -9.81, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.000781831, 0.000781831, 0.00156366, 0, 0, 0, 5.88545e-44, 0, 1.2, 1.86361e-40, 2000, -11.772, -0, -0
-60, 0, 0, 25.0097, 0, 0, -0.5886, 0, 0, -9.81, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.000781831, 0.000781831, 0.00156366, 0, 0, 0, 5.88545e-44, 0, 1.2, 1.86361e-40, 2000, -11.772, -0, -0
-61, 0, 0, 25.0091, 0, 0, -0.59841, 0, 0, -9.81, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.000781831, 0.000781831, 0.00156366, 0, 0, 0, 5.88545e-44, 0, 1.2, 1.86361e-40, 2000, -11.772, -0, -0
-62, 0, 0, 25.0085, 0, 0, -0.60822, 0, 0, -9.81, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.000781831, 0.000781831, 0.00156366, 0, 0, 0, 5.88545e-44, 0, 1.2, 1.86361e-40, 2000, -11.772, -0, -0
-63, 0, 0, 25.0079, 0, 0, -0.61803, 0, 0, -9.81, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.000781831, 0.000781831, 0.00156366, 0, 0, 0, 5.88545e-44, 0, 1.2, 1.86361e-40, 2000, -11.772, -0, -0
-64, 0, 0, 25.0073, 0, 0, -0.62784, 0, 0, -9.81, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.000781831, 0.000781831, 0.00156366, 0, 0, 0, 5.88545e-44, 0, 1.2, 1.86361e-40, 2000, -11.772, -0, -0
-65, 0, 0, 25.0067, 0, 0, -0.63765, 0, 0, -9.81, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.000781831, 0.000781831, 0.00156366, 0, 0, 0, 5.88545e-44, 0, 1.2, 1.86361e-40, 2000, -11.772, -0, -0
-66, 0, 0, 25.006, 0, 0, -0.64746, 0, 0, -9.81, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.000781831, 0.000781831, 0.00156366, 0, 0, 0, 5.88545e-44, 0, 1.2, 1.86361e-40, 2000, -11.772, -0, -0
-67, 0, 0, 25.0054, 0, 0, -0.65727, 0, 0, -9.81, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.000781831, 0.000781831, 0.00156366, 0, 0, 0, 5.88545e-44, 0, 1.2, 1.86361e-40, 2000, -11.772, -0, -0
-68, 0, 0, 25.0047, 0, 0, -0.66708, 0, 0, -9.81, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.000781831, 0.000781831, 0.00156366, 0, 0, 0, 5.88545e-44, 0, 1.2, 1.86361e-40, 2000, -11.772, -0, -0
-69, 0, 0, 25.004, 0, 0, -0.67689, 0, 0, -9.81, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.000781831, 0.000781831, 0.00156366, 0, 0, 0, 5.88545e-44, 0, 1.2, 1.86361e-40, 2000, -11.772, -0, -0
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-1902, 0, 0, 11.4496, 0, 0, -7.36291, -0, 0, 3.41864, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.00077114, 0.00077114, 0.00154228, -1.18162e-05, -1.18162e-05, -2.36323e-05, -0, -0, 1.18359, 15.6573, 0.903, 4.04627, -0, -0
-1903, 0, 0, 11.4423, 0, 0, -7.3595, -0, 0, 3.41536, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.000771129, 0.000771129, 0.00154226, -1.18744e-05, -1.18744e-05, -2.37487e-05, -0, -0, 1.18357, 15.6532, 0.904, 4.04233, -0, -0
-1904, 0, 0, 11.4349, 0, 0, -7.35608, -0, 0, 3.41211, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.000771117, 0.000771117, 0.00154223, -1.18162e-05, -1.18162e-05, -2.36323e-05, -0, -0, 1.18356, 15.6491, 0.905, 4.03842, -0, -0
-1905, 0, 0, 11.4276, 0, 0, -7.35268, -0, 0, 3.40889, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.000771105, 0.000771105, 0.00154221, -1.18744e-05, -1.18744e-05, -2.37487e-05, -0, -0, 1.18354, 15.645, 0.906, 4.03454, -0, -0
-1906, 0, 0, 11.4202, 0, 0, -7.34927, -0, 0, 3.40568, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.000771093, 0.000771093, 0.00154219, -1.18162e-05, -1.18162e-05, -2.36323e-05, -0, -0, 1.18352, 15.641, 0.907, 4.03069, -0, -0
-1907, 0, 0, 11.4129, 0, 0, -7.34587, -0, 0, 3.40251, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.000771081, 0.000771081, 0.00154216, -1.17579e-05, -1.17579e-05, -2.35159e-05, -0, -0, 1.1835, 15.637, 0.908, 4.02687, -0, -0
-1908, 0, 0, 11.4055, 0, 0, -7.34247, -0, 0, 3.39935, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.000771069, 0.000771069, 0.00154214, -1.19326e-05, -1.19326e-05, -2.38651e-05, -0, -0, 1.18348, 15.633, 0.909, 4.02308, -0, -0
-1909, 0, 0, 11.3982, 0, 0, -7.33907, -0, 0, 3.39622, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.000771058, 0.000771058, 0.00154212, -1.17579e-05, -1.17579e-05, -2.35159e-05, -0, -0, 1.18346, 15.6291, 0.91, 4.01931, -0, -0
-1910, 0, 0, 11.3908, 0, 0, -7.33568, -0, 0, 3.39312, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.000771046, 0.000771046, 0.00154209, -1.18744e-05, -1.18744e-05, -2.37487e-05, -0, -0, 1.18345, 15.6252, 0.911, 4.01557, -0, -0
-1911, 0, 0, 11.3835, 0, 0, -7.33229, -0, 0, 3.39004, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.000771034, 0.000771034, 0.00154207, -1.18162e-05, -1.18162e-05, -2.36323e-05, -0, -0, 1.18343, 15.6213, 0.912, 4.01186, -0, -0
-1912, 0, 0, 11.3762, 0, 0, -7.3289, -0, 0, 3.38698, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.000771022, 0.000771022, 0.00154204, -1.18744e-05, -1.18744e-05, -2.37487e-05, -0, -0, 1.18341, 15.6174, 0.913, 4.00819, -0, -0
-1913, 0, 0, 11.3689, 0, 0, -7.32552, -0, 0, 3.38394, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.00077101, 0.00077101, 0.00154202, -1.18162e-05, -1.18162e-05, -2.36323e-05, -0, -0, 1.18339, 15.6136, 0.914, 4.00453, -0, -0
-1914, 0, 0, 11.3615, 0, 0, -7.32214, -0, 0, 3.38093, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.000770998, 0.000770998, 0.001542, -1.18162e-05, -1.18162e-05, -2.36323e-05, -0, -0, 1.18337, 15.6098, 0.915, 4.00091, -0, -0
-1915, 0, 0, 11.3542, 0, 0, -7.31876, -0, 0, 3.37794, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.000770986, 0.000770986, 0.00154197, -1.18744e-05, -1.18744e-05, -2.37487e-05, -0, -0, 1.18336, 15.606, 0.916, 3.99731, -0, -0
-1916, 0, 0, 11.3469, 0, 0, -7.31538, -0, 0, 3.37498, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.000770975, 0.000770975, 0.00154195, -1.18162e-05, -1.18162e-05, -2.36323e-05, -0, -0, 1.18334, 15.6023, 0.917, 3.99374, -0, -0
-1917, 0, 0, 11.3396, 0, 0, -7.31201, -0, 0, 3.37203, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.000770963, 0.000770963, 0.00154193, -1.18744e-05, -1.18744e-05, -2.37487e-05, -0, -0, 1.18332, 15.5986, 0.918, 3.99019, -0, -0
-1918, 0, 0, 11.3323, 0, 0, -7.30864, -0, 0, 3.36911, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.000770951, 0.000770951, 0.0015419, -1.18162e-05, -1.18162e-05, -2.36323e-05, -0, -0, 1.1833, 15.5949, 0.919, 3.98668, -0, -0
-1919, 0, 0, 11.325, 0, 0, -7.30528, -0, 0, 3.36622, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.000770939, 0.000770939, 0.00154188, -1.18744e-05, -1.18744e-05, -2.37487e-05, -0, -0, 1.18328, 15.5912, 0.92, 3.98319, -0, -0
-1920, 0, 0, 11.3177, 0, 0, -7.30191, -0, 0, 3.36334, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.000770927, 0.000770927, 0.00154185, -1.18162e-05, -1.18162e-05, -2.36323e-05, -0, -0, 1.18326, 15.5876, 0.921, 3.97973, -0, -0
-1921, 0, 0, 11.3104, 0, 0, -7.29855, -0, 0, 3.36049, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.000770915, 0.000770915, 0.00154183, -1.18162e-05, -1.18162e-05, -2.36323e-05, -0, -0, 1.18325, 15.5839, 0.922, 3.97629, -0, -0
-1922, 0, 0, 11.3031, 0, 0, -7.2952, -0, 0, 3.35766, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.000770904, 0.000770904, 0.00154181, -1.18744e-05, -1.18744e-05, -2.37487e-05, -0, -0, 1.18323, 15.5804, 0.923, 3.97288, -0, -0
-1923, 0, 0, 11.2958, 0, 0, -7.29184, -0, 0, 3.35485, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.000770892, 0.000770892, 0.00154178, -1.18162e-05, -1.18162e-05, -2.36323e-05, -0, -0, 1.18321, 15.5768, 0.924, 3.9695, -0, -0
-1924, 0, 0, 11.2885, 0, 0, -7.28849, -0, 0, 3.35207, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.00077088, 0.00077088, 0.00154176, -1.18744e-05, -1.18744e-05, -2.37487e-05, -0, -0, 1.18319, 15.5733, 0.925, 3.96614, -0, -0
-1925, 0, 0, 11.2812, 0, 0, -7.28514, -0, 0, 3.3493, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.000770868, 0.000770868, 0.00154174, -1.18162e-05, -1.18162e-05, -2.36323e-05, -0, -0, 1.18317, 15.5697, 0.926, 3.96281, -0, -0
-1926, 0, 0, 11.2739, 0, 0, -7.28179, -0, 0, 3.34656, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.000770856, 0.000770856, 0.00154171, -1.18744e-05, -1.18744e-05, -2.37487e-05, -0, -0, 1.18316, 15.5663, 0.927, 3.95951, -0, -0
-1927, 0, 0, 11.2667, 0, 0, -7.27845, -0, 0, 3.34384, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.000770844, 0.000770844, 0.00154169, -1.18162e-05, -1.18162e-05, -2.36323e-05, -0, -0, 1.18314, 15.5628, 0.928, 3.95623, -0, -0
-1928, 0, 0, 11.2594, 0, 0, -7.27511, -0, 0, 3.34114, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.000770833, 0.000770833, 0.00154167, -1.18162e-05, -1.18162e-05, -2.36323e-05, -0, -0, 1.18312, 15.5594, 0.929, 3.95297, -0, -0
-1929, 0, 0, 11.2521, 0, 0, -7.27177, -0, 0, 3.33847, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.000770821, 0.000770821, 0.00154164, -1.18744e-05, -1.18744e-05, -2.37487e-05, -0, -0, 1.1831, 15.556, 0.93, 3.94975, -0, -0
-1930, 0, 0, 11.2448, 0, 0, -7.26843, -0, 0, 3.33581, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.000770809, 0.000770809, 0.00154162, -1.17579e-05, -1.17579e-05, -2.35159e-05, -0, -0, 1.18308, 15.5526, 0.931, 3.94654, -0, -0
-1931, 0, 0, 11.2376, 0, 0, -7.2651, -0, 0, 3.33318, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.000770797, 0.000770797, 0.00154159, -1.19326e-05, -1.19326e-05, -2.38651e-05, -0, -0, 1.18306, 15.5492, 0.932, 3.94337, -0, -0
-1932, 0, 0, 11.2303, 0, 0, -7.26177, -0, 0, 3.33057, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.000770785, 0.000770785, 0.00154157, -1.17579e-05, -1.17579e-05, -2.35159e-05, -0, -0, 1.18305, 15.5459, 0.933, 3.94021, -0, -0
-1933, 0, 0, 11.223, 0, 0, -7.25844, -0, 0, 3.32797, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.000770773, 0.000770773, 0.00154155, -1.19326e-05, -1.19326e-05, -2.38651e-05, -0, -0, 1.18303, 15.5426, 0.934, 3.93709, -0, -0
-1934, 0, 0, 11.2158, 0, 0, -7.25512, -0, 0, 3.3254, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.000770762, 0.000770762, 0.00154152, -1.17579e-05, -1.17579e-05, -2.35159e-05, -0, -0, 1.18301, 15.5393, 0.935, 3.93399, -0, -0
-1935, 0, 0, 11.2085, 0, 0, -7.25179, -0, 0, 3.32285, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.00077075, 0.00077075, 0.0015415, -1.18162e-05, -1.18162e-05, -2.36323e-05, -0, -0, 1.18299, 15.5361, 0.936, 3.93091, -0, -0
-1936, 0, 0, 11.2013, 0, 0, -7.24847, -0, 0, 3.32032, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.000770738, 0.000770738, 0.00154148, -1.18744e-05, -1.18744e-05, -2.37487e-05, -0, -0, 1.18297, 15.5328, 0.937, 3.92786, -0, -0
-1937, 0, 0, 11.194, 0, 0, -7.24515, -0, 0, 3.31781, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.000770726, 0.000770726, 0.00154145, -1.18162e-05, -1.18162e-05, -2.36323e-05, -0, -0, 1.18296, 15.5296, 0.938, 3.92483, -0, -0
-1938, 0, 0, 11.1868, 0, 0, -7.24184, -0, 0, 3.31533, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.000770714, 0.000770714, 0.00154143, -1.18744e-05, -1.18744e-05, -2.37487e-05, -0, -0, 1.18294, 15.5264, 0.939, 3.92182, -0, -0
-1939, 0, 0, 11.1796, 0, 0, -7.23853, -0, 0, 3.31286, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.000770702, 0.000770702, 0.0015414, -1.18162e-05, -1.18162e-05, -2.36323e-05, -0, -0, 1.18292, 15.5233, 0.94, 3.91884, -0, -0
-1940, 0, 0, 11.1723, 0, 0, -7.23522, -0, 0, 3.31041, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.000770691, 0.000770691, 0.00154138, -1.18744e-05, -1.18744e-05, -2.37487e-05, -0, -0, 1.1829, 15.5202, 0.941, 3.91589, -0, -0
-1941, 0, 0, 11.1651, 0, 0, -7.23191, -0, 0, 3.30798, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.000770679, 0.000770679, 0.00154136, -1.18162e-05, -1.18162e-05, -2.36323e-05, -0, -0, 1.18288, 15.517, 0.942, 3.91296, -0, -0
-1942, 0, 0, 11.1579, 0, 0, -7.2286, -0, 0, 3.30557, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.000770667, 0.000770667, 0.00154133, -1.18162e-05, -1.18162e-05, -2.36323e-05, -0, -0, 1.18287, 15.514, 0.943, 3.91005, -0, -0
-1943, 0, 0, 11.1506, 0, 0, -7.2253, -0, 0, 3.30319, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.000770655, 0.000770655, 0.00154131, -1.18744e-05, -1.18744e-05, -2.37487e-05, -0, -0, 1.18285, 15.5109, 0.944, 3.90716, -0, -0
-1944, 0, 0, 11.1434, 0, 0, -7.222, -0, 0, 3.30082, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.000770643, 0.000770643, 0.00154129, -1.18162e-05, -1.18162e-05, -2.36323e-05, -0, -0, 1.18283, 15.5079, 0.945, 3.9043, -0, -0
-1945, 0, 0, 11.1362, 0, 0, -7.2187, -0, 0, 3.29847, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.000770631, 0.000770631, 0.00154126, -1.18744e-05, -1.18744e-05, -2.37487e-05, -0, -0, 1.18281, 15.5048, 0.946, 3.90147, -0, -0
-1946, 0, 0, 11.129, 0, 0, -7.2154, -0, 0, 3.29614, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.000770619, 0.000770619, 0.00154124, -1.18162e-05, -1.18162e-05, -2.36323e-05, -0, -0, 1.18279, 15.5018, 0.947, 3.89865, -0, -0
-1947, 0, 0, 11.1218, 0, 0, -7.21211, -0, 0, 3.29383, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.000770608, 0.000770608, 0.00154122, -1.18744e-05, -1.18744e-05, -2.37487e-05, -0, -0, 1.18277, 15.4989, 0.948, 3.89586, -0, -0
-1948, 0, 0, 11.1146, 0, 0, -7.20882, -0, 0, 3.29154, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.000770596, 0.000770596, 0.00154119, -1.18162e-05, -1.18162e-05, -2.36323e-05, -0, -0, 1.18276, 15.4959, 0.949, 3.89309, -0, -0
-1949, 0, 0, 11.1074, 0, 0, -7.20553, -0, 0, 3.28927, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.000770584, 0.000770584, 0.00154117, -1.18162e-05, -1.18162e-05, -2.36323e-05, -0, -0, 1.18274, 15.493, 0.95, 3.89035, -0, -0
-1950, 0, 0, 11.1002, 0, 0, -7.20224, -0, 0, 3.28702, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.000770572, 0.000770572, 0.00154114, -1.18744e-05, -1.18744e-05, -2.37487e-05, -0, -0, 1.18272, 15.4901, 0.951, 3.88762, -0, -0
-1951, 0, 0, 11.093, 0, 0, -7.19896, -0, 0, 3.28479, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.00077056, 0.00077056, 0.00154112, -1.18162e-05, -1.18162e-05, -2.36323e-05, -0, -0, 1.1827, 15.4872, 0.952, 3.88492, -0, -0
-1952, 0, 0, 11.0858, 0, 0, -7.19568, -0, 0, 3.28258, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.000770548, 0.000770548, 0.0015411, -1.18744e-05, -1.18744e-05, -2.37487e-05, -0, -0, 1.18268, 15.4844, 0.953, 3.88225, -0, -0
-1953, 0, 0, 11.0786, 0, 0, -7.1924, -0, 0, 3.28038, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.000770537, 0.000770537, 0.00154107, -1.18162e-05, -1.18162e-05, -2.36323e-05, -0, -0, 1.18267, 15.4815, 0.954, 3.87959, -0, -0
-1954, 0, 0, 11.0714, 0, 0, -7.18912, -0, 0, 3.2782, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.000770525, 0.000770525, 0.00154105, -1.18744e-05, -1.18744e-05, -2.37487e-05, -0, -0, 1.18265, 15.4787, 0.955, 3.87696, -0, -0
-1955, 0, 0, 11.0642, 0, 0, -7.18584, -0, 0, 3.27605, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.000770513, 0.000770513, 0.00154103, -1.18162e-05, -1.18162e-05, -2.36323e-05, -0, -0, 1.18263, 15.4759, 0.956, 3.87435, -0, -0
-1956, 0, 0, 11.057, 0, 0, -7.18257, -0, 0, 3.27391, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.000770501, 0.000770501, 0.001541, -1.17579e-05, -1.17579e-05, -2.35159e-05, -0, -0, 1.18261, 15.4732, 0.957, 3.87176, -0, -0
-1957, 0, 0, 11.0498, 0, 0, -7.1793, -0, 0, 3.27179, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.000770489, 0.000770489, 0.00154098, -1.19326e-05, -1.19326e-05, -2.38651e-05, -0, -0, 1.18259, 15.4704, 0.958, 3.86919, -0, -0
-1958, 0, 0, 11.0427, 0, 0, -7.17603, -0, 0, 3.26969, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.000770477, 0.000770477, 0.00154095, -1.17579e-05, -1.17579e-05, -2.35159e-05, -0, -0, 1.18257, 15.4677, 0.959, 3.86665, -0, -0
-1959, 0, 0, 11.0355, 0, 0, -7.17276, -0, 0, 3.2676, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.000770466, 0.000770466, 0.00154093, -1.19326e-05, -1.19326e-05, -2.38651e-05, -0, -0, 1.18256, 15.465, 0.96, 3.86412, -0, -0
-1960, 0, 0, 11.0283, 0, 0, -7.16949, -0, 0, 3.26554, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.000770454, 0.000770454, 0.00154091, -1.17579e-05, -1.17579e-05, -2.35159e-05, -0, -0, 1.18254, 15.4623, 0.961, 3.86162, -0, -0
-1961, 0, 0, 11.0212, 0, 0, -7.16623, -0, 0, 3.26349, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.000770442, 0.000770442, 0.00154088, -1.19326e-05, -1.19326e-05, -2.38651e-05, -0, -0, 1.18252, 15.4597, 0.962, 3.85914, -0, -0
-1962, 0, 0, 11.014, 0, 0, -7.16297, -0, 0, 3.26146, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.00077043, 0.00077043, 0.00154086, -1.17579e-05, -1.17579e-05, -2.35159e-05, -0, -0, 1.1825, 15.457, 0.963, 3.85668, -0, -0
-1963, 0, 0, 11.0068, 0, 0, -7.15971, -0, 0, 3.25944, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.000770418, 0.000770418, 0.00154084, -1.18162e-05, -1.18162e-05, -2.36323e-05, -0, -0, 1.18248, 15.4544, 0.964, 3.85424, -0, -0
-1964, 0, 0, 10.9997, 0, 0, -7.15645, -0, 0, 3.25745, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.000770406, 0.000770406, 0.00154081, -1.18744e-05, -1.18744e-05, -2.37487e-05, -0, -0, 1.18247, 15.4518, 0.965, 3.85182, -0, -0
-1965, 0, 0, 10.9925, 0, 0, -7.1532, -0, 0, 3.25547, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.000770395, 0.000770395, 0.00154079, -1.18162e-05, -1.18162e-05, -2.36323e-05, -0, -0, 1.18245, 15.4492, 0.966, 3.84942, -0, -0
-1966, 0, 0, 10.9854, 0, 0, -7.14994, -0, 0, 3.25351, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.000770383, 0.000770383, 0.00154077, -1.18744e-05, -1.18744e-05, -2.37487e-05, -0, -0, 1.18243, 15.4467, 0.967, 3.84705, -0, -0
-1967, 0, 0, 10.9782, 0, 0, -7.14669, -0, 0, 3.25157, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.000770371, 0.000770371, 0.00154074, -1.18162e-05, -1.18162e-05, -2.36323e-05, -0, -0, 1.18241, 15.4441, 0.968, 3.84469, -0, -0
-1968, 0, 0, 10.9711, 0, 0, -7.14344, -0, 0, 3.24965, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.000770359, 0.000770359, 0.00154072, -1.18162e-05, -1.18162e-05, -2.36323e-05, -0, -0, 1.18239, 15.4416, 0.969, 3.84236, -0, -0
-1969, 0, 0, 10.9639, 0, 0, -7.14019, -0, 0, 3.24774, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.000770347, 0.000770347, 0.00154069, -1.18744e-05, -1.18744e-05, -2.37487e-05, -0, -0, 1.18237, 15.4391, 0.97, 3.84004, -0, -0
-1970, 0, 0, 10.9568, 0, 0, -7.13695, -0, 0, 3.24585, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.000770335, 0.000770335, 0.00154067, -1.18162e-05, -1.18162e-05, -2.36323e-05, -0, -0, 1.18236, 15.4367, 0.971, 3.83775, -0, -0
-1971, 0, 0, 10.9497, 0, 0, -7.1337, -0, 0, 3.24397, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.000770324, 0.000770324, 0.00154065, -1.18744e-05, -1.18744e-05, -2.37487e-05, -0, -0, 1.18234, 15.4342, 0.972, 3.83547, -0, -0
-1972, 0, 0, 10.9425, 0, 0, -7.13046, -0, 0, 3.24212, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.000770312, 0.000770312, 0.00154062, -1.18162e-05, -1.18162e-05, -2.36323e-05, -0, -0, 1.18232, 15.4318, 0.973, 3.83322, -0, -0
-1973, 0, 0, 10.9354, 0, 0, -7.12722, -0, 0, 3.24028, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.0007703, 0.0007703, 0.0015406, -1.18744e-05, -1.18744e-05, -2.37487e-05, -0, -0, 1.1823, 15.4294, 0.974, 3.83098, -0, -0
-1974, 0, 0, 10.9283, 0, 0, -7.12398, -0, 0, 3.23845, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.000770288, 0.000770288, 0.00154058, -1.18162e-05, -1.18162e-05, -2.36323e-05, -0, -0, 1.18228, 15.427, 0.975, 3.82877, -0, -0
-1975, 0, 0, 10.9212, 0, 0, -7.12075, -0, 0, 3.23664, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.000770276, 0.000770276, 0.00154055, -1.18744e-05, -1.18744e-05, -2.37487e-05, -0, -0, 1.18227, 15.4246, 0.976, 3.82657, -0, -0
-1976, 0, 0, 10.9141, 0, 0, -7.11751, -0, 0, 3.23485, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.000770264, 0.000770264, 0.00154053, -1.18162e-05, -1.18162e-05, -2.36323e-05, -0, -0, 1.18225, 15.4222, 0.977, 3.8244, -0, -0
-1977, 0, 0, 10.9069, 0, 0, -7.11428, -0, 0, 3.23308, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.000770252, 0.000770252, 0.0015405, -1.18162e-05, -1.18162e-05, -2.36323e-05, -0, -0, 1.18223, 15.4199, 0.978, 3.82224, -0, -0
-1978, 0, 0, 10.8998, 0, 0, -7.11105, -0, 0, 3.23132, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.000770241, 0.000770241, 0.00154048, -1.18744e-05, -1.18744e-05, -2.37487e-05, -0, -0, 1.18221, 15.4176, 0.979, 3.8201, -0, -0
-1979, 0, 0, 10.8927, 0, 0, -7.10782, -0, 0, 3.22958, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.000770229, 0.000770229, 0.00154046, -1.18162e-05, -1.18162e-05, -2.36323e-05, -0, -0, 1.18219, 15.4153, 0.98, 3.81798, -0, -0
-1980, 0, 0, 10.8856, 0, 0, -7.10459, -0, 0, 3.22785, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.000770217, 0.000770217, 0.00154043, -1.18744e-05, -1.18744e-05, -2.37487e-05, -0, -0, 1.18217, 15.413, 0.981, 3.81588, -0, -0
-1981, 0, 0, 10.8785, 0, 0, -7.10136, -0, 0, 3.22614, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.000770205, 0.000770205, 0.00154041, -1.18162e-05, -1.18162e-05, -2.36323e-05, -0, -0, 1.18216, 15.4108, 0.982, 3.8138, -0, -0
-1982, 0, 0, 10.8714, 0, 0, -7.09814, -0, 0, 3.22445, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.000770193, 0.000770193, 0.00154039, -1.17579e-05, -1.17579e-05, -2.35159e-05, -0, -0, 1.18214, 15.4085, 0.983, 3.81174, -0, -0
-1983, 0, 0, 10.8643, 0, 0, -7.09492, -0, 0, 3.22277, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.000770181, 0.000770181, 0.00154036, -1.19326e-05, -1.19326e-05, -2.38651e-05, -0, -0, 1.18212, 15.4063, 0.984, 3.8097, -0, -0
-1984, 0, 0, 10.8572, 0, 0, -7.09169, -0, 0, 3.2211, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.00077017, 0.00077017, 0.00154034, -1.17579e-05, -1.17579e-05, -2.35159e-05, -0, -0, 1.1821, 15.4041, 0.985, 3.80767, -0, -0
-1985, 0, 0, 10.8501, 0, 0, -7.08847, -0, 0, 3.21946, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.000770158, 0.000770158, 0.00154032, -1.18744e-05, -1.18744e-05, -2.37487e-05, -0, -0, 1.18208, 15.4019, 0.986, 3.80567, -0, -0
-1986, 0, 0, 10.8431, 0, 0, -7.08526, -0, 0, 3.21783, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.000770146, 0.000770146, 0.00154029, -1.18162e-05, -1.18162e-05, -2.36323e-05, -0, -0, 1.18207, 15.3997, 0.987, 3.80368, -0, -0
-1987, 0, 0, 10.836, 0, 0, -7.08204, -0, 0, 3.21621, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.000770134, 0.000770134, 0.00154027, -1.18744e-05, -1.18744e-05, -2.37487e-05, -0, -0, 1.18205, 15.3976, 0.988, 3.80171, -0, -0
-1988, 0, 0, 10.8289, 0, 0, -7.07883, -0, 0, 3.21461, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.000770122, 0.000770122, 0.00154024, -1.18162e-05, -1.18162e-05, -2.36323e-05, -0, -0, 1.18203, 15.3955, 0.989, 3.79976, -0, -0
-1989, 0, 0, 10.8218, 0, 0, -7.07561, -0, 0, 3.21302, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.00077011, 0.00077011, 0.00154022, -1.18162e-05, -1.18162e-05, -2.36323e-05, -0, -0, 1.18201, 15.3934, 0.99, 3.79782, -0, -0
-1990, 0, 0, 10.8147, 0, 0, -7.0724, -0, 0, 3.21145, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.000770099, 0.000770099, 0.0015402, -1.18744e-05, -1.18744e-05, -2.37487e-05, -0, -0, 1.18199, 15.3913, 0.991, 3.79591, -0, -0
-1991, 0, 0, 10.8077, 0, 0, -7.06919, -0, 0, 3.20989, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.000770087, 0.000770087, 0.00154017, -1.18162e-05, -1.18162e-05, -2.36323e-05, -0, -0, 1.18197, 15.3892, 0.992, 3.79401, -0, -0
-1992, 0, 0, 10.8006, 0, 0, -7.06598, -0, 0, 3.20835, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.000770075, 0.000770075, 0.00154015, -1.18744e-05, -1.18744e-05, -2.37487e-05, -0, -0, 1.18196, 15.3871, 0.993, 3.79213, -0, -0
-1993, 0, 0, 10.7935, 0, 0, -7.06278, -0, 0, 3.20682, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.000770063, 0.000770063, 0.00154013, -1.18162e-05, -1.18162e-05, -2.36323e-05, -0, -0, 1.18194, 15.3851, 0.994, 3.79027, -0, -0
-1994, 0, 0, 10.7865, 0, 0, -7.05957, -0, 0, 3.20531, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.000770051, 0.000770051, 0.0015401, -1.18744e-05, -1.18744e-05, -2.37487e-05, -0, -0, 1.18192, 15.3831, 0.995, 3.78842, -0, -0
-1995, 0, 0, 10.7794, 0, 0, -7.05637, -0, 0, 3.20382, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.000770039, 0.000770039, 0.00154008, -1.18162e-05, -1.18162e-05, -2.36323e-05, -0, -0, 1.1819, 15.3811, 0.996, 3.7866, -0, -0
-1996, 0, 0, 10.7724, 0, 0, -7.05316, -0, 0, 3.20233, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.000770028, 0.000770028, 0.00154006, -1.18162e-05, -1.18162e-05, -2.36323e-05, -0, -0, 1.18188, 15.3791, 0.997, 3.78479, -0, -0
-1997, 0, 0, 10.7653, 0, 0, -7.04996, -0, 0, 3.20086, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.000770016, 0.000770016, 0.00154003, -1.18744e-05, -1.18744e-05, -2.37487e-05, -0, -0, 1.18187, 15.3771, 0.998, 3.78299, -0, -0
-1998, 0, 0, 10.7583, 0, 0, -7.04676, -0, 0, 3.19941, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.000770004, 0.000770004, 0.00154001, -1.18162e-05, -1.18162e-05, -2.36323e-05, -0, -0, 1.18185, 15.3751, 0.999, 3.78121, -0, -0
-1999, 0, 0, 10.7512, 0, 0, -7.04357, -0, 0, 3.19797, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.000769992, 0.000769992, 0.00153998, -1.18744e-05, -1.18744e-05, -2.37487e-05, -0, -0, 1.18183, 15.3732, 1, 3.77946, -0, -0
-2000, 0, 0, 10.7442, 0, 0, -7.04037, -0, 0, 3.19654, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.00076998, 0.00076998, 0.00153996, -1.18162e-05, -1.18162e-05, -2.36323e-05, -0, -0, 1.18181, 15.3713, 1.001, 3.77771, -0, -0
-2001, 0, 0, 10.7372, 0, 0, -7.03717, -0, 0, 3.19513, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.000769968, 0.000769968, 0.00153994, -1.18744e-05, -1.18744e-05, -2.37487e-05, -0, -0, 1.18179, 15.3694, 1.002, 3.77598, -0, -0
-2002, 0, 0, 10.7301, 0, 0, -7.03398, -0, 0, 3.19373, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.000769957, 0.000769957, 0.00153991, -1.18162e-05, -1.18162e-05, -2.36323e-05, -0, -0, 1.18177, 15.3675, 1.003, 3.77427, -0, -0
-2003, 0, 0, 10.7231, 0, 0, -7.03079, -0, 0, 3.19235, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.000769945, 0.000769945, 0.00153989, -1.18162e-05, -1.18162e-05, -2.36323e-05, -0, -0, 1.18176, 15.3656, 1.004, 3.77258, -0, -0
-2004, 0, 0, 10.7161, 0, 0, -7.0276, -0, 0, 3.19098, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.000769933, 0.000769933, 0.00153987, -1.18744e-05, -1.18744e-05, -2.37487e-05, -0, -0, 1.18174, 15.3638, 1.005, 3.7709, -0, -0
-2005, 0, 0, 10.709, 0, 0, -7.02441, -0, 0, 3.18962, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.000769921, 0.000769921, 0.00153984, -1.17579e-05, -1.17579e-05, -2.35159e-05, -0, -0, 1.18172, 15.3619, 1.006, 3.76924, -0, -0
-2006, 0, 0, 10.702, 0, 0, -7.02122, -0, 0, 3.18828, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.000769909, 0.000769909, 0.00153982, -1.19326e-05, -1.19326e-05, -2.38651e-05, -0, -0, 1.1817, 15.3601, 1.007, 3.7676, -0, -0
-2007, 0, 0, 10.695, 0, 0, -7.01803, -0, 0, 3.18695, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.000769897, 0.000769897, 0.00153979, -1.17579e-05, -1.17579e-05, -2.35159e-05, -0, -0, 1.18168, 15.3583, 1.008, 3.76597, -0, -0
-2008, 0, 0, 10.688, 0, 0, -7.01485, -0, 0, 3.18564, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.000769885, 0.000769885, 0.00153977, -1.19326e-05, -1.19326e-05, -2.38651e-05, -0, -0, 1.18167, 15.3565, 1.009, 3.76436, -0, -0
-2009, 0, 0, 10.681, 0, 0, -7.01166, -0, 0, 3.18433, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.000769874, 0.000769874, 0.00153975, -1.17579e-05, -1.17579e-05, -2.35159e-05, -0, -0, 1.18165, 15.3547, 1.01, 3.76276, -0, -0
-2010, 0, 0, 10.674, 0, 0, -7.00848, -0, 0, 3.18304, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.000769862, 0.000769862, 0.00153972, -1.18162e-05, -1.18162e-05, -2.36323e-05, -0, -0, 1.18163, 15.353, 1.011, 3.76118, -0, -0
-2011, 0, 0, 10.667, 0, 0, -7.0053, -0, 0, 3.18177, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.00076985, 0.00076985, 0.0015397, -1.18744e-05, -1.18744e-05, -2.37487e-05, -0, -0, 1.18161, 15.3512, 1.012, 3.75961, -0, -0
-2012, 0, 0, 10.66, 0, 0, -7.00212, -0, 0, 3.1805, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.000769838, 0.000769838, 0.00153968, -1.18162e-05, -1.18162e-05, -2.36323e-05, -0, -0, 1.18159, 15.3495, 1.013, 3.75806, -0, -0
-2013, 0, 0, 10.653, 0, 0, -6.99894, -0, 0, 3.17925, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.000769826, 0.000769826, 0.00153965, -1.18744e-05, -1.18744e-05, -2.37487e-05, -0, -0, 1.18157, 15.3478, 1.014, 3.75653, -0, -0
-2014, 0, 0, 10.646, 0, 0, -6.99576, -0, 0, 3.17801, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.000769814, 0.000769814, 0.00153963, -1.18162e-05, -1.18162e-05, -2.36323e-05, -0, -0, 1.18156, 15.3461, 1.015, 3.755, -0, -0
-2015, 0, 0, 10.639, 0, 0, -6.99258, -0, 0, 3.17679, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.000769803, 0.000769803, 0.00153961, -1.18744e-05, -1.18744e-05, -2.37487e-05, -0, -0, 1.18154, 15.3444, 1.016, 3.7535, -0, -0
-2016, 0, 0, 10.632, 0, 0, -6.98941, -0, 0, 3.17558, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.000769791, 0.000769791, 0.00153958, -1.18162e-05, -1.18162e-05, -2.36323e-05, -0, -0, 1.18152, 15.3427, 1.017, 3.75201, -0, -0
-2017, 0, 0, 10.625, 0, 0, -6.98623, -0, 0, 3.17438, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.000769779, 0.000769779, 0.00153956, -1.18162e-05, -1.18162e-05, -2.36323e-05, -0, -0, 1.1815, 15.3411, 1.018, 3.75053, -0, -0
-2018, 0, 0, 10.618, 0, 0, -6.98306, -0, 0, 3.17319, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.000769767, 0.000769767, 0.00153953, -1.18744e-05, -1.18744e-05, -2.37487e-05, -0, -0, 1.18148, 15.3394, 1.019, 3.74907, -0, -0
-2019, 0, 0, 10.611, 0, 0, -6.97989, -0, 0, 3.17202, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.000769755, 0.000769755, 0.00153951, -1.18162e-05, -1.18162e-05, -2.36323e-05, -0, -0, 1.18147, 15.3378, 1.02, 3.74763, -0, -0
-2020, 0, 0, 10.6041, 0, 0, -6.97672, -0, 0, 3.17085, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.000769743, 0.000769743, 0.00153949, -1.18744e-05, -1.18744e-05, -2.37487e-05, -0, -0, 1.18145, 15.3362, 1.021, 3.7462, -0, -0
-2021, 0, 0, 10.5971, 0, 0, -6.97355, -0, 0, 3.1697, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.000769732, 0.000769732, 0.00153946, -1.18162e-05, -1.18162e-05, -2.36323e-05, -0, -0, 1.18143, 15.3346, 1.022, 3.74478, -0, -0
-2022, 0, 0, 10.5901, 0, 0, -6.97038, -0, 0, 3.16857, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.00076972, 0.00076972, 0.00153944, -1.18744e-05, -1.18744e-05, -2.37487e-05, -0, -0, 1.18141, 15.333, 1.023, 3.74338, -0, -0
-2023, 0, 0, 10.5831, 0, 0, -6.96721, -0, 0, 3.16744, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.000769708, 0.000769708, 0.00153942, -1.18162e-05, -1.18162e-05, -2.36323e-05, -0, -0, 1.18139, 15.3315, 1.024, 3.74199, -0, -0
-2024, 0, 0, 10.5762, 0, 0, -6.96404, -0, 0, 3.16633, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.000769696, 0.000769696, 0.00153939, -1.18162e-05, -1.18162e-05, -2.36323e-05, -0, -0, 1.18138, 15.3299, 1.025, 3.74062, -0, -0
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+4300, 0, 0, -65.6871, 0, 0, -42.183, 0, 0, -9.81, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.000781831, 0.000781831, 0.00156366, 0, 0, 0, 4.94066e-324, 2.17389e-322, 1.2, 4.72983e-317, 2000, -11.772, -0, -0
diff --git a/include/sVars.h b/include/Vehicle.h
similarity index 63%
rename from include/sVars.h
rename to include/Vehicle.h
index 7decc21..a13596a 100644
--- a/include/sVars.h
+++ b/include/Vehicle.h
@@ -3,33 +3,27 @@
 #ifndef SVARS_H
 #define SVARS_H
 
-struct sVars {
+struct Vehicle {
   double x, y, z;
-  double xPrev, yPrev, zPrev;
   double vx, vy, vz;
-  double vxPrev, vyPrev, vzPrev;
   double vxBody, vyBody, vzBody;
-  double ax, ay, az, axPrev, ayPrev, azPrev;
+  double ax, ay, az;
 
   double yaw, pitch, roll;
   double phidot, thetadot, psidot;
-  double yawPrev, pitchPrev, rollPrev;
   double yawdot, pitchdot, rolldot;
-  double yawdotPrev, pitchdotPrev, rolldotPrev;
   double yawddot, pitchddot, rollddot;
-  double yawddotPrev, pitchddotPrev, rollddotPrev;
 
   double mass, massInitial, massPropellant, massBurnout, mdot;
   double vehicleHeight, vehicleRadius, momentArm;
 
   double burntime;
   double burnVelocity;
-  double thrust, thrust_prev, burnElapsed, burnStart;
+  double thrust, burnElapsed, burnStart;
   double LQRx, LQRy, Fx, Fy, Fz;
   double momentX, momentY, momentZ;
 
   double I11, I22, I33;
-  double I11prev, I22prev, I33prev;
   double I11dot, I22dot, I33dot;
 
   int maxServo;
@@ -39,4 +33,4 @@ struct sVars {
   int stepSize;
 };
 
-#endif
\ No newline at end of file
+#endif
diff --git a/include/sim.h b/include/sim.h
index 2d3242d..20ac8b5 100644
--- a/include/sim.h
+++ b/include/sim.h
@@ -1,11 +1,11 @@
-#include "sVars.h"
+#include "Vehicle.h"
 
-void burnStartTimeCalc(struct sVars &);
-void thrustSelection(struct sVars &, int t);
-void lqrCalc(struct sVars &);
-void TVC(struct sVars &);
-void vehicleDynamics(struct sVars &, int t);
-void write2CSV(struct sVars &, std::fstream &outfile, int t);
+void burnStartTimeCalc(struct Vehicle &);
+void thrustSelection(struct Vehicle &, int t);
+void lqrCalc(struct Vehicle &);
+void TVC(struct Vehicle &);
+void vehicleDynamics(struct Vehicle &, struct Vehicle &, int t);
+void write2CSV(struct Vehicle &, std::fstream &outfile, int t);
 double derivative(double x2, double x1, double dt);
 double integral(double x2, double x1, double dt);
 
@@ -14,14 +14,14 @@ double integral(double x2, double x1, double dt);
 double const dt = 0.001;
 double const g = -9.81;
 
-void sim(struct sVars &Vars) {
+void sim(struct Vehicle &State, struct Vehicle &PrevState) {
 
   // defining a few random values here cause I'm lazy
-  Vars.burnElapsed = 2000;
-  Vars.mass = Vars.massInitial;
-  Vars.thrust_prev = 0;
+  State.burnElapsed = 2000;
+  State.mass = State.massInitial;
+  PrevState.thrust = 0;
 
-  burnStartTimeCalc(Vars);
+  burnStartTimeCalc(State);
 
   // Deleting any previous output file
   if (remove("simOut.csv") != 0)
@@ -43,26 +43,26 @@ void sim(struct sVars &Vars) {
       << std::endl;
 
   // Start Sim
-  for (int t = 0; t < Vars.simTime; t++) {
-    thrustSelection(Vars, t);
-    lqrCalc(Vars);
-    TVC(Vars);
-    vehicleDynamics(Vars, t);
-    write2CSV(Vars, outfile, t);
+  for (int t = 0; t < State.simTime; t++) {
+    thrustSelection(State, t);
+    lqrCalc(State);
+    TVC(State);
+    vehicleDynamics(State, PrevState, t);
+    write2CSV(State, outfile, t);
   }
 
   outfile.close();
 }
 
-void burnStartTimeCalc(struct sVars &Vars) {
-  double velocity = Vars.vz;
+void burnStartTimeCalc(struct Vehicle &State) {
+  double velocity = State.vz;
   double h = 0;
 
   double a, j, mass, thrust;
 
   // Piecewise functions for F15 thrust curve
   for (double i = 0.148; i < 3.450; i = i + dt) {
-    mass = Vars.massInitial - i * Vars.mdot;
+    mass = State.massInitial - i * State.mdot;
 
     if ((i > 0.147) && (i < 0.420))
       thrust = 65.165 * i - 2.3921;
@@ -78,51 +78,53 @@ void burnStartTimeCalc(struct sVars &Vars) {
     h = velocity * dt + h;
   }
 
-  Vars.z = h + (pow(velocity, 2) / (2 * -g)); // starting height
-  Vars.burnVelocity = velocity;               // terminal velocity
+  State.z = h + (pow(velocity, 2) / (2 * -g)); // starting height
+  State.burnVelocity = velocity;               // terminal velocity
 
-  double burnStartTime = Vars.burnVelocity / -g;
-  Vars.simTime = (Vars.burntime + burnStartTime) * 1000;
+  double burnStartTime = State.burnVelocity / -g;
+  State.simTime = (State.burntime + burnStartTime) * 1000;
 }
 
-void thrustSelection(struct sVars &Vars, int t) {
+void thrustSelection(struct Vehicle &State, int t) {
 
-  if (Vars.burnElapsed != 2000) {
+  if (State.burnElapsed != 2000) {
     // determine where in the thrust curve we're at based on elapsed burn time
     // as well as current mass
-    Vars.burnElapsed = (t - Vars.burnStart) / 1000;
-    Vars.mass = Vars.massInitial - (Vars.mdot * Vars.burnElapsed);
+    State.burnElapsed = (t - State.burnStart) / 1000;
+    State.mass = State.massInitial - (State.mdot * State.burnElapsed);
   }
 
-  else if (abs(Vars.burnVelocity - Vars.vz) < .001) {
+  else if (abs(State.burnVelocity - State.vz) < .001) {
     // Start burn
-    Vars.burnStart = t;
-    Vars.burnElapsed = 0;
+    State.burnStart = t;
+    State.burnElapsed = 0;
   }
 
   else
-    Vars.burnElapsed = 2000; // arbitrary number to ensure we don't burn
+    State.burnElapsed = 2000; // arbitrary number to ensure we don't burn
 
-  if ((Vars.burnElapsed > 0.147) && (Vars.burnElapsed < 0.420))
-    Vars.thrust = 65.165 * Vars.burnElapsed - 2.3921;
+  if ((State.burnElapsed > 0.147) && (State.burnElapsed < 0.420))
+    State.thrust = 65.165 * State.burnElapsed - 2.3921;
 
-  else if ((Vars.burnElapsed > 0.419) && (Vars.burnElapsed < 3.383))
-    Vars.thrust =
-        0.8932 * pow(Vars.burnElapsed, 6) - 11.609 * pow(Vars.burnElapsed, 5) +
-        60.739 * pow(Vars.burnElapsed, 4) - 162.99 * pow(Vars.burnElapsed, 3) +
-        235.6 * pow(Vars.burnElapsed, 2) - 174.43 * Vars.burnElapsed + 67.17;
+  else if ((State.burnElapsed > 0.419) && (State.burnElapsed < 3.383))
+    State.thrust = 0.8932 * pow(State.burnElapsed, 6) -
+                   11.609 * pow(State.burnElapsed, 5) +
+                   60.739 * pow(State.burnElapsed, 4) -
+                   162.99 * pow(State.burnElapsed, 3) +
+                   235.6 * pow(State.burnElapsed, 2) -
+                   174.43 * State.burnElapsed + 67.17;
 
-  else if ((Vars.burnElapsed > 3.382) && (Vars.burnElapsed < 3.46))
-    Vars.thrust = -195.78 * Vars.burnElapsed + 675.11;
+  else if ((State.burnElapsed > 3.382) && (State.burnElapsed < 3.46))
+    State.thrust = -195.78 * State.burnElapsed + 675.11;
 }
 
-void lqrCalc(struct sVars &Vars) {
+void lqrCalc(struct Vehicle &State) {
 
-  Vars.I11 = Vars.mass * ((1 / 12) * pow(Vars.vehicleHeight, 2) +
-                          pow(Vars.vehicleRadius, 2) / 4);
-  Vars.I22 = Vars.mass * ((1 / 12) * pow(Vars.vehicleHeight, 2) +
-                          pow(Vars.vehicleRadius, 2) / 4);
-  Vars.I33 = Vars.mass * 0.5 * pow(Vars.vehicleRadius, 2);
+  State.I11 = State.mass * ((1 / 12) * pow(State.vehicleHeight, 2) +
+                            pow(State.vehicleRadius, 2) / 4);
+  State.I22 = State.mass * ((1 / 12) * pow(State.vehicleHeight, 2) +
+                            pow(State.vehicleRadius, 2) / 4);
+  State.I33 = State.mass * 0.5 * pow(State.vehicleRadius, 2);
 
   // Paste in Values from gainCalc.m
   double K11 = 39.54316;
@@ -148,222 +150,224 @@ void lqrCalc(struct sVars &Vars) {
   double gain = 0.25 * pow(10, -4);
 
   // Matrix Multiply K with [YPR/2; w123] column vector and divide by moment arm
-  Vars.LQRx =
+  State.LQRx =
       gain *
-      ((K12 * Vars.pitch) / 2 + K15 * Vars.pitchdot + (K13 * Vars.roll) / 2 +
-       K16 * Vars.rolldot + (K11 * Vars.yaw) / 2 + K14 * Vars.yawdot) /
-      -Vars.momentArm;
-  Vars.LQRy =
+      ((K12 * State.pitch) / 2 + K15 * State.pitchdot + (K13 * State.roll) / 2 +
+       K16 * State.rolldot + (K11 * State.yaw) / 2 + K14 * State.yawdot) /
+      -State.momentArm;
+  State.LQRy =
       gain *
-      ((K22 * Vars.pitch) / 2 + K25 * Vars.pitchdot + (K23 * Vars.roll) / 2 +
-       K26 * Vars.rolldot + (K21 * Vars.yaw) / 2 + K24 * Vars.yawdot) /
-      -Vars.momentArm;
+      ((K22 * State.pitch) / 2 + K25 * State.pitchdot + (K23 * State.roll) / 2 +
+       K26 * State.rolldot + (K21 * State.yaw) / 2 + K24 * State.yawdot) /
+      -State.momentArm;
 
   // LQR Force limiter X
-  if (Vars.LQRx > Vars.thrust)
-    Vars.LQRx = Vars.thrust;
-  else if (Vars.LQRx < -1 * Vars.thrust)
-    Vars.LQRx = -1 * Vars.thrust;
+  if (State.LQRx > State.thrust)
+    State.LQRx = State.thrust;
+  else if (State.LQRx < -1 * State.thrust)
+    State.LQRx = -1 * State.thrust;
 
   // LQR Force limiter Y
-  if (Vars.LQRy > Vars.thrust)
-    Vars.LQRy = Vars.thrust;
-  else if (Vars.LQRy < -1 * Vars.thrust)
-    Vars.LQRy = -1 * Vars.thrust;
+  if (State.LQRy > State.thrust)
+    State.LQRy = State.thrust;
+  else if (State.LQRy < -1 * State.thrust)
+    State.LQRy = -1 * State.thrust;
 }
 
-void TVC(struct sVars &Vars) {
-  if (Vars.thrust < 1) {
+void TVC(struct Vehicle &State) {
+  if (State.thrust < 1) {
     // Define forces and moments for t = 0
-    Vars.Fx = 0;
-    Vars.Fy = 0;
-    Vars.Fz = g * Vars.massInitial;
+    State.Fx = 0;
+    State.Fy = 0;
+    State.Fz = g * State.massInitial;
 
-    Vars.momentX = 0;
-    Vars.momentY = 0;
-    Vars.momentZ = 0;
+    State.momentX = 0;
+    State.momentY = 0;
+    State.momentZ = 0;
   } else {
     // Convert servo position to degrees for comparison to max allowable
-    Vars.xServoDegs = (180 / M_PI) * asin(Vars.LQRx / Vars.thrust);
+    State.xServoDegs = (180 / M_PI) * asin(State.LQRx / State.thrust);
 
     // Servo position limiter
-    if (Vars.xServoDegs > Vars.maxServo)
-      Vars.xServoDegs = Vars.maxServo;
-    else if (Vars.xServoDegs < -1 * Vars.maxServo)
-      Vars.xServoDegs = -1 * Vars.maxServo;
+    if (State.xServoDegs > State.maxServo)
+      State.xServoDegs = State.maxServo;
+    else if (State.xServoDegs < -1 * State.maxServo)
+      State.xServoDegs = -1 * State.maxServo;
 
     // Convert servo position to degrees for comparison to max allowable
-    Vars.yServoDegs = (180 / M_PI) * asin(Vars.LQRy / Vars.thrust);
+    State.yServoDegs = (180 / M_PI) * asin(State.LQRy / State.thrust);
 
     // Servo position limiter
-    if (Vars.yServoDegs > Vars.maxServo)
-      Vars.yServoDegs = Vars.maxServo;
-    else if (Vars.yServoDegs < -1 * Vars.maxServo)
-      Vars.yServoDegs = -1 * Vars.maxServo;
+    if (State.yServoDegs > State.maxServo)
+      State.yServoDegs = State.maxServo;
+    else if (State.yServoDegs < -1 * State.maxServo)
+      State.yServoDegs = -1 * State.maxServo;
 
     // Vector math to aqcuire thrust vector components
-    Vars.Fx = Vars.thrust * sin(Vars.xServoDegs * (M_PI / 180));
-    Vars.Fy = Vars.thrust * sin(Vars.yServoDegs * (M_PI / 180));
-    Vars.Fz = sqrt(pow(Vars.thrust, 2) - (pow(Vars.Fx, 2) + pow(Vars.Fy, 2))) +
-              (Vars.mass * g);
+    State.Fx = State.thrust * sin(State.xServoDegs * (M_PI / 180));
+    State.Fy = State.thrust * sin(State.yServoDegs * (M_PI / 180));
+    State.Fz =
+        sqrt(pow(State.thrust, 2) - (pow(State.Fx, 2) + pow(State.Fy, 2))) +
+        (State.mass * g);
 
     // Calculate moment created by Fx and Fy
-    Vars.momentX = Vars.Fx * Vars.momentArm;
-    Vars.momentY = Vars.Fy * Vars.momentArm;
-    Vars.momentZ = 0;
+    State.momentX = State.Fx * State.momentArm;
+    State.momentY = State.Fy * State.momentArm;
+    State.momentZ = 0;
   }
 }
 
-void vehicleDynamics(struct sVars &Vars, int t) {
+void vehicleDynamics(Vehicle &State, Vehicle &PrevState, int t) {
   // Idot
   if (t < 1) {
-    Vars.I11dot = 0;
-    Vars.I22dot = 0;
-    Vars.I33dot = 0;
+    State.I11dot = 0;
+    State.I22dot = 0;
+    State.I33dot = 0;
   } else {
-    Vars.I11dot = derivative(Vars.I11, Vars.I11prev, Vars.stepSize);
-    Vars.I22dot = derivative(Vars.I22, Vars.I22prev, Vars.stepSize);
-    Vars.I33dot = derivative(Vars.I33, Vars.I33prev, Vars.stepSize);
+    State.I11dot = derivative(State.I11, PrevState.I11, State.stepSize);
+    State.I22dot = derivative(State.I22, PrevState.I22, State.stepSize);
+    State.I33dot = derivative(State.I33, PrevState.I33, State.stepSize);
   }
 
   // pdot, qdot, rdot
-  Vars.yawddot = (Vars.momentX - Vars.I11dot * Vars.yawdot +
-                  Vars.I22 * Vars.pitchdot * Vars.rolldot -
-                  Vars.I33 * Vars.pitchdot * Vars.rolldot) /
-                 Vars.I11;
-  Vars.pitchddot = (Vars.momentY - Vars.I22dot * Vars.pitchdot -
-                    Vars.I11 * Vars.rolldot * Vars.yawdot +
-                    Vars.I33 * Vars.rolldot * Vars.yawdot) /
-                   Vars.I22;
-  Vars.rollddot = (Vars.momentZ - Vars.I33dot * Vars.rolldot +
-                   Vars.I11 * Vars.pitchdot * Vars.yawdot -
-                   Vars.I22 * Vars.pitchdot * Vars.yawdot) /
-                  Vars.I33;
+  State.yawddot = (State.momentX - State.I11dot * State.yawdot +
+                   State.I22 * State.pitchdot * State.rolldot -
+                   State.I33 * State.pitchdot * State.rolldot) /
+                  State.I11;
+  State.pitchddot = (State.momentY - State.I22dot * State.pitchdot -
+                     State.I11 * State.rolldot * State.yawdot +
+                     State.I33 * State.rolldot * State.yawdot) /
+                    State.I22;
+  State.rollddot = (State.momentZ - State.I33dot * State.rolldot +
+                    State.I11 * State.pitchdot * State.yawdot -
+                    State.I22 * State.pitchdot * State.yawdot) /
+                   State.I33;
 
   if (t < 1) {
-    Vars.x = 0;
-    Vars.y = 0;
+    State.x = 0;
+    State.y = 0;
 
-    Vars.ax = 0;
-    Vars.ay = 0;
-    Vars.az = Vars.Fz / Vars.massInitial;
+    State.ax = 0;
+    State.ay = 0;
+    State.az = State.Fz / State.massInitial;
   }
 
   else {
     // p, q, r
-    Vars.yawdot = integral(Vars.yawddot, Vars.yawdotPrev, Vars.stepSize);
-    Vars.pitchdot = integral(Vars.pitchddot, Vars.pitchdotPrev, Vars.stepSize);
-    Vars.rolldot = integral(Vars.rollddot, Vars.rolldotPrev, Vars.stepSize);
+    State.yawdot = integral(State.yawddot, PrevState.yawdot, State.stepSize);
+    State.pitchdot =
+        integral(State.pitchddot, PrevState.pitchdot, State.stepSize);
+    State.rolldot = integral(State.rollddot, PrevState.rolldot, State.stepSize);
 
     // ax ay az
-    Vars.ax = (Vars.Fx / Vars.mass) +
-              (Vars.pitchdot * Vars.vz - Vars.rolldot * Vars.vy);
-    Vars.ay = (Vars.Fy / Vars.mass) +
-              (Vars.rolldot * Vars.vx - Vars.vz * Vars.yawdot);
-    Vars.az = (Vars.Fz / Vars.mass) +
-              (Vars.vy * Vars.yawdot - Vars.pitchdot * Vars.vx);
+    State.ax = (State.Fx / State.mass) +
+               (State.pitchdot * State.vz - State.rolldot * State.vy);
+    State.ay = (State.Fy / State.mass) +
+               (State.rolldot * State.vx - State.vz * State.yawdot);
+    State.az = (State.Fz / State.mass) +
+               (State.vy * State.yawdot - State.pitchdot * State.vx);
 
     // vx vy vz in Body frame
-    Vars.vx = integral(Vars.ax, Vars.vxPrev, Vars.stepSize);
-    Vars.vy = integral(Vars.ay, Vars.vyPrev, Vars.stepSize);
-    Vars.vz = integral(Vars.az, Vars.vzPrev, Vars.stepSize);
+    State.vx = integral(State.ax, PrevState.vx, State.stepSize);
+    State.vy = integral(State.ay, PrevState.vy, State.stepSize);
+    State.vz = integral(State.az, PrevState.vz, State.stepSize);
 
     // Xe
-    Vars.x = integral(Vars.vx, Vars.xPrev, Vars.stepSize);
-    Vars.y = integral(Vars.vy, Vars.yPrev, Vars.stepSize);
-    Vars.z = integral(Vars.vz, Vars.zPrev, Vars.stepSize);
+    State.x = integral(State.vx, PrevState.x, State.stepSize);
+    State.y = integral(State.vy, PrevState.y, State.stepSize);
+    State.z = integral(State.vz, PrevState.z, State.stepSize);
 
     // Euler Angles
-    Vars.phidot = Vars.yawdot + (Vars.pitchdot * sin(Vars.yaw) +
-                                 Vars.rolldot * cos(Vars.yaw)) *
-                                    (sin(Vars.pitch) / cos(Vars.pitch));
-    Vars.thetadot =
-        Vars.pitchdot * cos(Vars.yaw) - Vars.rolldot * sin(Vars.pitch);
-    Vars.psidot =
-        (Vars.pitchdot * sin(Vars.yaw) + Vars.rolldot * cos(Vars.yaw)) /
-        cos(Vars.pitch);
+    State.phidot = State.yawdot + (State.pitchdot * sin(State.yaw) +
+                                   State.rolldot * cos(State.yaw)) *
+                                      (sin(State.pitch) / cos(State.pitch));
+    State.thetadot =
+        State.pitchdot * cos(State.yaw) - State.rolldot * sin(State.pitch);
+    State.psidot =
+        (State.pitchdot * sin(State.yaw) + State.rolldot * cos(State.yaw)) /
+        cos(State.pitch);
 
-    Vars.yaw = integral(Vars.phidot, Vars.yawPrev, Vars.stepSize);
-    Vars.pitch = integral(Vars.thetadot, Vars.pitchPrev, Vars.stepSize);
-    Vars.roll = integral(Vars.psidot, Vars.rollPrev, Vars.stepSize);
+    State.yaw = integral(State.phidot, PrevState.yaw, State.stepSize);
+    State.pitch = integral(State.thetadot, PrevState.pitch, State.stepSize);
+    State.roll = integral(State.psidot, PrevState.roll, State.stepSize);
   }
 
   // Set "prev" values for next timestep
-  Vars.I11prev = Vars.I11;
-  Vars.I22prev = Vars.I22;
-  Vars.I33prev = Vars.I33;
+  PrevState.I11 = State.I11;
+  PrevState.I22 = State.I22;
+  PrevState.I33 = State.I33;
 
-  Vars.yawPrev = Vars.yaw;
-  Vars.pitchPrev = Vars.pitch;
-  Vars.rollPrev = Vars.roll;
+  PrevState.yaw = State.yaw;
+  PrevState.pitch = State.pitch;
+  PrevState.roll = State.roll;
 
-  Vars.yawdotPrev = Vars.yawdot;
-  Vars.pitchdotPrev = Vars.pitchdot;
-  Vars.rolldotPrev = Vars.rolldot;
+  PrevState.yawdot = State.yawdot;
+  PrevState.pitchdot = State.pitchdot;
+  PrevState.rolldot = State.rolldot;
 
-  Vars.yawddotPrev = Vars.yawddot;
-  Vars.pitchddotPrev = Vars.pitchddot;
-  Vars.rollddotPrev = Vars.rollddot;
+  PrevState.yawddot = State.yawddot;
+  PrevState.pitchddot = State.pitchddot;
+  PrevState.rollddot = State.rollddot;
 
-  Vars.axPrev = Vars.ax;
-  Vars.ayPrev = Vars.ay;
-  Vars.azPrev = Vars.az;
+  PrevState.ax = State.ax;
+  PrevState.ay = State.ay;
+  PrevState.az = State.az;
 
-  Vars.vxPrev = Vars.vx;
-  Vars.vyPrev = Vars.vy;
-  Vars.vzPrev = Vars.vz;
+  PrevState.vx = State.vx;
+  PrevState.vy = State.vy;
+  PrevState.vz = State.vz;
 
-  Vars.xPrev = Vars.x;
-  Vars.yPrev = Vars.y;
-  Vars.zPrev = Vars.z;
+  PrevState.x = State.x;
+  PrevState.y = State.y;
+  PrevState.z = State.z;
 }
 
-void write2CSV(struct sVars &Vars, std::fstream &outfile, int t) {
+void write2CSV(struct Vehicle &State, std::fstream &outfile, int t) {
   // writing to output file
   outfile << t << ", ";
 
-  outfile << Vars.x << ", ";
-  outfile << Vars.y << ", ";
-  outfile << Vars.z << ", ";
+  outfile << State.x << ", ";
+  outfile << State.y << ", ";
+  outfile << State.z << ", ";
 
-  outfile << Vars.vx << ", ";
-  outfile << Vars.vy << ", ";
-  outfile << Vars.vz << ", ";
+  outfile << State.vx << ", ";
+  outfile << State.vy << ", ";
+  outfile << State.vz << ", ";
 
-  outfile << Vars.ax << ", ";
-  outfile << Vars.ay << ", ";
-  outfile << Vars.az << ", ";
+  outfile << State.ax << ", ";
+  outfile << State.ay << ", ";
+  outfile << State.az << ", ";
 
-  outfile << Vars.yaw * 180 / M_PI << ", ";
-  outfile << Vars.pitch * 180 / M_PI << ", ";
-  outfile << Vars.roll * 180 / M_PI << ", ";
+  outfile << State.yaw * 180 / M_PI << ", ";
+  outfile << State.pitch * 180 / M_PI << ", ";
+  outfile << State.roll * 180 / M_PI << ", ";
 
-  outfile << Vars.yawdot * 180 / M_PI << ", ";
-  outfile << Vars.pitchdot * 180 / M_PI << ", ";
-  outfile << Vars.rolldot * 180 / M_PI << ", ";
+  outfile << State.yawdot * 180 / M_PI << ", ";
+  outfile << State.pitchdot * 180 / M_PI << ", ";
+  outfile << State.rolldot * 180 / M_PI << ", ";
 
-  outfile << Vars.yawddot * 180 / M_PI << ", ";
-  outfile << Vars.pitchddot * 180 / M_PI << ", ";
-  outfile << Vars.rollddot * 180 / M_PI << ", ";
+  outfile << State.yawddot * 180 / M_PI << ", ";
+  outfile << State.pitchddot * 180 / M_PI << ", ";
+  outfile << State.rollddot * 180 / M_PI << ", ";
 
-  outfile << Vars.I11 << ", ";
-  outfile << Vars.I22 << ", ";
-  outfile << Vars.I33 << ", ";
+  outfile << State.I11 << ", ";
+  outfile << State.I22 << ", ";
+  outfile << State.I33 << ", ";
 
-  outfile << Vars.I11dot << ", ";
-  outfile << Vars.I22dot << ", ";
-  outfile << Vars.I33dot << ", ";
+  outfile << State.I11dot << ", ";
+  outfile << State.I22dot << ", ";
+  outfile << State.I33dot << ", ";
 
-  outfile << Vars.xServoDegs << ", ";
-  outfile << Vars.yServoDegs << ", ";
+  outfile << State.xServoDegs << ", ";
+  outfile << State.yServoDegs << ", ";
 
-  outfile << Vars.mass << ", ";
-  outfile << Vars.thrust << ", ";
-  outfile << Vars.burnElapsed << ", ";
-  outfile << Vars.Fz << ", ";
+  outfile << State.mass << ", ";
+  outfile << State.thrust << ", ";
+  outfile << State.burnElapsed << ", ";
+  outfile << State.Fz << ", ";
 
-  outfile << Vars.LQRx << ", ";
-  outfile << Vars.LQRy << std::endl;
+  outfile << State.LQRx << ", ";
+  outfile << State.LQRy << std::endl;
 }
 
 double derivative(double x2, double x1, double dt) {
diff --git a/src/main.cpp b/src/main.cpp
index 844b2c6..66c297b 100644
--- a/src/main.cpp
+++ b/src/main.cpp
@@ -5,48 +5,49 @@
 #include <iostream>
 #include <stdio.h>
 
-#include "sVars.h"
+#include "Vehicle.h"
 #include "sim.h"
 
-void sim(struct sVars &);
+void sim(struct Vehicle &);
 
 int main() {
-  sVars Vars;
+  Vehicle State;
+  Vehicle PrevState;
 
   // Initial Velocity
-  Vars.vx = 0; // [m/s]
-  Vars.vy = 0; // [m/s]
-  Vars.vz = 0; // [m/s]
+  State.vx = 0; // [m/s]
+  State.vy = 0; // [m/s]
+  State.vz = 0; // [m/s]
 
   // Initial YPR
-  Vars.yaw = 0 * M_PI / 180;   // [rad]
-  Vars.pitch = 0 * M_PI / 180; // [rad]
-  Vars.roll = 0 * M_PI / 180;  // [rad]
+  State.yaw = 0 * M_PI / 180;   // [rad]
+  State.pitch = 0 * M_PI / 180; // [rad]
+  State.roll = 0 * M_PI / 180;  // [rad]
 
   // Initial YPRdot
-  Vars.yawdot = 0 * M_PI / 180;   // [rad/s]
-  Vars.pitchdot = 0 * M_PI / 180; // [rad/s]
-  Vars.rolldot = 0 * M_PI / 180;  // [rad/s]
+  State.yawdot = 0 * M_PI / 180;   // [rad/s]
+  State.pitchdot = 0 * M_PI / 180; // [rad/s]
+  State.rolldot = 0 * M_PI / 180;  // [rad/s]
 
   // Servo Limitation
-  Vars.maxServo = 15; // [degs]
+  State.maxServo = 15; // [degs]
 
   // Vehicle Properties
-  Vars.massInitial = 1.2;       // [kg]
-  Vars.vehicleHeight = 0.5318;  // [m]
-  Vars.vehicleRadius = 0.05105; // [m]
-  Vars.momentArm = 0.145;       // [m]
+  State.massInitial = 1.2;       // [kg]
+  State.vehicleHeight = 0.5318;  // [m]
+  State.vehicleRadius = 0.05105; // [m]
+  State.momentArm = 0.145;       // [m]
 
   // Sim Step Size
-  Vars.stepSize = 1; // [ms]
+  State.stepSize = 1; // [ms]
 
   // Other Properties
-  Vars.massPropellant = 0.06;                                // [kg]
-  Vars.massBurnout = Vars.massInitial - Vars.massPropellant; // [kg]
-  Vars.burntime = 3.45 - 0.148;                              // [s]
-  Vars.mdot = Vars.massPropellant / Vars.burntime;           // [kg/s]
+  State.massPropellant = 0.06;                                  // [kg]
+  State.massBurnout = State.massInitial - State.massPropellant; // [kg]
+  State.burntime = 3.45 - 0.148;                                // [s]
+  State.mdot = State.massPropellant / State.burntime;           // [kg/s]
 
-  sim(Vars);
+  sim(State, PrevState);
 
   std::cout << "Finished";
   std::cin.get();